diff --git a/README.md b/README.md
index 5b0dce6e1f6d22f20927e2b3fe38757392574cd7..f676524790187aaa288acfba3fc535e232eb24e1 100644
--- a/README.md
+++ b/README.md
@@ -9,9 +9,13 @@ tags:
 - integration-testing
 ---
 
-# ChemLab released catalog integration
+# ChemLab instrument integration and model evaluation
 
-The current release includes all 203 instrument catalogs, native Isaac import checks and individual screenshots, at baseline source f159fc2, with a separate final-source Ziath follow-up, plus four realtime Isaac + Kinex scripted tasks with eight original camera recordings and four fresh-process replays. No LLM policy is evaluated.
+The latest model evaluation runs **Kinex + GPT-6 Astra / high** through RLE-Bench: four independent seed-0 realtime instrument tasks, one attempt each. Results, model sessions, usage, native verdicts and synchronized videos are under [`model-evaluations/gpt-6-astra-high-seed0-20261023/`](model-evaluations/gpt-6-astra-high-seed0-20261023/README.md). These are authored integration tasks with no robot.
+
+## Scripted acceptance and asset coverage
+
+The current release includes all 203 instrument catalogs, native Isaac import checks and individual screenshots, at baseline source f159fc2, with a separate final-source Ziath follow-up, plus four realtime Isaac + Kinex scripted tasks with eight original camera recordings and four fresh-process replays. That earlier scripted snapshot contains no model-policy evaluation.
 
 Open the [interactive Space](https://huggingface.co/spaces/RLE-Bench/chemlab-integration-acceptance). The current evidence is under `realtime-v3/` and `catalog-v3/`. `index.json` pins source identity and exact coverage. Missing specialized Matterix scene helpers remain deferred; readout projections, unresolved channels and upstream-unbound controls have separate denominators.
 
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/effective-model.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/effective-model.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd5f31d814b342867be5dfab7a35cdcd306a730
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/effective-model.json
@@ -0,0 +1,392 @@
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+      "tsconfig.json": "2da9592ff4ccfe2b5ae793050987bda9cec78da7197cd223920079b68e277f94"
+    },
+    "mode": "git",
+    "ref": "15207927c6669fe98f1213a3fd05148e0fe938d3",
+    "revision": "15207927c6669fe98f1213a3fd05148e0fe938d3"
+  },
+  "model": "openai-codex/gpt-6-astra",
+  "effort": "high",
+  "service_tier": "default",
+  "fresh_session": true,
+  "max_steps": null,
+  "model_recording": false,
+  "compaction": "native",
+  "transport": "sse",
+  "strict_usage": true,
+  "max_request_retries": 50,
+  "usage_accounting": "reported-responses"
+}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/instruction.txt b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/instruction.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddf32649ee53f99d235d954566feb39b1fe09b47
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/instruction.txt
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-hood-light-sash
+
+Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/kinex.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/kinex.log
new file mode 100644
index 0000000000000000000000000000000000000000..9fe2ea699477463e37b592793b8a7ab76840ab2c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/kinex.log
@@ -0,0 +1 @@
+Success confirmed: light and fan on, sash at 0.457 m, and SAFE airflow at 0.4 m/s held for one simulation second. Attempt finalized; reusable notes saved.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/provider-requests.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/provider-requests.jsonl
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session-export.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session-export.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc97ec3c0b8a4d2eab614df9e6ad6758eef6c4e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session-export.json
@@ -0,0 +1 @@
+{"complete": true, "trace": "trace.json", "native": "session.jsonl", "provider_audit": "provider-requests.jsonl"}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d820b6045142145a02ff1df0275ad322e8e11a76
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session.jsonl
@@ -0,0 +1,50 @@
+{"type":"session","version":3,"id":"01a16754-5809-75c2-9aca-22ab92552c5b","timestamp":"2026-10-23T05:55:43.241Z","cwd":"/workspace"}
+{"type":"model_change","id":"cf9cf5c4","parentId":null,"timestamp":"2026-10-23T05:55:43.829Z","provider":"openai-codex","modelId":"gpt-6-astra"}
+{"type":"thinking_level_change","id":"397f9469","parentId":"cf9cf5c4","timestamp":"2026-10-23T05:55:43.829Z","thinkingLevel":"high"}
+{"type":"message","id":"36740b3c","parentId":"397f9469","timestamp":"2026-10-23T05:55:44.366Z","message":{"role":"system","content":"","sections":{"preamble":"You are an expert coding assistant operating inside pi, a coding agent harness. You help users by reading files, executing commands, editing code, and writing new files.","tools":"<tools>\n- read: Read file contents\n- write: Create or overwrite files\n- edit: Make precise file edits with exact text replacement, including multiple disjoint edits in one call\n- bash: Execute bash commands (ls, grep, find, etc.)\n- grep: Search file contents for patterns (respects .gitignore)\n- find: Find files by glob pattern (respects .gitignore)\n- ls: List directory contents\n\nIn addition to the tools above, you may have access to other custom tools depending on the project.\n</tools>","rules":"<rules>\n- Use read to examine files instead of cat or sed.\n- Use write only for new files or complete rewrites.\n- Use edit for precise changes (edits[].oldText must match exactly)\n- When changing multiple separate locations in one file, use one edit call with multiple entries in edits[] instead of multiple edit calls\n- Each edits[].oldText is matched against the original file, not after earlier edits are applied. 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New custom tools and skills are discovered after each complete tool batch and before the next model request, including during the current task.\n\nUse the question tool for missing facts. If interviews are unavailable, keep unknown facts unknown rather than inventing user decisions.\n\n\n# Robotics\n\nDevices expose hardware or simulator interfaces; profiles define their facts and\ncapabilities. Only drivers access SDKs/services directly. Use the device tool or\nKinex device APIs for lifecycle, readings and commands.\n\nConsult each tool's description for its execution and completion semantics.\nSkills supply procedures that require judgment.\n\nMinimize unnecessary tool calls and motion while preserving reliable task completion and verification.\nWhen planning motion, account for intended contact and avoid unintended collisions along the full path.\n\nFollow the profiles' units, limits and declared safety constraints. 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Keep the ordinary shell environment unchanged.\n\n\n<device_conventions>\nRead profiles for parameters and injected type conventions for operations. Units and vector order follow the profile. ??? means unresolved; null follows its field and never means numeric zero.\nCustom per-device DEVICE.md files are allowed only for certain types.\nUse /register and setup-device to provision an unloaded device or repair its driver. Write facts through profile_write; preserve provenance and unknowns. Queue missing measurements with kind=needed and clear resolved requests explicitly with needs_calibration:null. New profiles remain unloaded; edits preserve activation intent. /unregister confirms removal of a device and its files.\nLoad inactive devices through the device tool or /load. status never starts services; unload releases resources. Python tools cannot change lifecycle. Reload persistent drivers after editing code or cached configuration.\nProfile completeness describes available facts, not calibration quality or safe motion. Use the facts required by the selected operation; unrelated unknowns and calibration requests do not block tasks. Operation validation and permissions still apply.\nFrames use device for its base and device:frame for a local frame. Local frames declare {parent_frame, translation_m, rotation_xyzw}; null parent means device base, null transform components mean unknown. Mount maps child coordinates into its parent: p_parent = R * p_child + translation_m. Use metres, right-handed frames and unit xyzw quaternions. Disconnected roots have no implied transform; use relative_pose to resolve relationships.\nObservations use numeric timestamp in seconds: acquisition time, or receipt time when unavailable. Cached readings retain it; compare timestamps only within the same clock.\nActuator writes submit a buffer with duration_s and return {execution_id, state}: an opaque submission ID and measured state, not completion. New writes replace pending references; stop clears affected buffers. Use world.wait to pace execution.\nSpecial devices like legged bases use mode as their single state/mode selector. control.device_modes declares the available modes and transitions. control.write and the custom Use guide declare supported fields, units and frames. Omit motion fields for state-only transitions; verify measured state readiness before motion.\nkinex.devices runs calls concurrently and preserves result order, without guaranteeing simultaneous sampling or atomic effects. Never retry uncertain writes.\n</device_conventions>\n\n\n# Task-scoped setup\n\nOnboarding prepares an embodiment through an agent-authored DAG. 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Output is truncated to 1000 results or 50KB (whichever is hit first).","parameters":{"type":"object","required":["pattern"],"properties":{"pattern":{"type":"string","description":"Glob pattern to match files, e.g. '*.ts', '**/*.json', or 'src/**/*.spec.ts'"},"path":{"type":"string","description":"Directory to search in (default: current directory)"},"limit":{"type":"number","description":"Maximum number of results (default: 1000)"}}}},{"name":"ls","description":"List directory contents. Returns entries sorted alphabetically, with '/' suffix for directories. Includes dotfiles. Output is truncated to 500 entries or 50KB (whichever is hit first).","parameters":{"type":"object","properties":{"path":{"type":"string","description":"Directory to list (default: current directory)"},"limit":{"type":"number","description":"Maximum number of entries to return (default: 500)"}}}},{"name":"web_search","description":"Search the web using the current supported provider (Google Gemini, xAI Grok, OpenAI, Anthropic, DeepSeek, Ollama, or OpenCode Zen/Go). Optionally include URLs to analyze alongside search results.","parameters":{"type":"object","required":["query"],"properties":{"query":{"type":"string","description":"The search query or question to answer"},"urls":{"type":"array","items":{"type":"string"},"description":"Additional URLs to analyze along with search (up to 20)","maxItems":20}}}},{"name":"kinex_skill","description":"Load a Kinex skill from any enabled feature package, using the current skill catalog.","parameters":{"type":"object","required":["name"],"properties":{"name":{"type":"string"}}}},{"name":"calib_compute","description":"Run supported offline calibration/introspection using archived evidence. No device\nmotion or profile writes. Use an existing run ID, a plan node, or a procedure name\nwith concrete device-role bindings. First use creates an isolated attempt. Use the\nprocedure descriptor returned by setup_plan full:true for roles and computations.\nCustom procedure code runs through existing host tools, not this offline registry.\n\nResults distinguish computation, quality and exact resolved fields.\nValid computed results that miss accuracy targets may still be accepted within\nthe user's accuracy/time budget. Do not repeat calibration solely to meet those\ntargets when the user accepts the result. Preserve measured errors and the original\nquality assessment; never treat missing or invalid results as approximate estimates.\nApply accepted proposedChanges with core profile_write, preserving unrelated facts.\nProposed patches never clear calibration requests automatically. A pivot solve\nmeasures translation only; RGB-D color calibration does not measure depth facts.\nURDF introspection is offline and does not require activation. Base verification\nuses explicit measured checks and tolerances, without controller tuning.\n\nArchive manual/factory facts or external solver results as evidence for setup_plan\nrecord. Reuse valid evidence and stop as soon as the current task is supported.\n\nBase measurement files contain required_checks:[name,...] and checks:[{name,\nexpected,measured,reference,...}]. reference names the archived source or independent\nmeasurement. Numerical expected/measured values need explicit tolerance and units.\nOther assertions compare exact values. Optional timestamps must contain at least\ntwo distinct increasing sample times. Only required_checks determine coverage;\nmissing checks fail quality. Do not claim untested axes or operating 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file path, relative to invocation directory or absolute"}},"required":["operation","measurements"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"calib_sample","description":"Read one sample into an isolated .kinex/calib/<run>/samples.json. Start with a plan\nnode or procedure plus bindings; subsequent samples use the returned run ID. The\ndevice must be one of the bound participants. Inputs and participants cannot change\nwithin an attempt. Returns the new sample, run ID and count; camera attachments are\ncopied into immutable attempt artifacts, including both RGB and depth files for\nRGBD readings. Both copies must succeed before a sample is appended.\nUse note to identify the collection step. Samples\ncontain measured state and timestamps; this tool cannot command or load devices.\n\nOptional settle waits for the declared measured velocity channels to remain below\nthe threshold over distinct samples. Unsupported/malformed feedback and faults are\nerrors. Cached readings do not establish stability. A timeout after a reading saves\nthat reading with settled:false; cancellation saves nothing. Without settle, the\nsample makes no claim of stationary motion. Settling supports joint devices,\ndexterous hands and velocity devices with declared measured velocity channels.\nThis blocking sampler does not advance simulator time; arrange world waits\noutside the sampler when collecting simulation evidence.\n\nFor joint devices, optional frame computes FK from that exact sample and stores\nkinematics with pose, frame and reference_frame:null alongside the measured data.\nUse it for TCP calibration; joint-device reads contain no frame poses. FK and\nartifact capture still run after a settle timeout, subject to caller cancellation.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","description":"device to sample, e.g. arm"},"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"args":{"description":"arguments for the driver action","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"frame":{"description":"joint-device frame to compute through FK from this sample","type":"string","minLength":1},"settle":{"description":"wait for the device to stop moving before recording; omit to record immediately","type":"object","properties":{"velocity_threshold":{"default":0.005,"description":"max |joint velocity| that counts as settled","type":"number","minimum":0},"stable_reads":{"default":3,"description":"consecutive settled reads required","type":"integer","exclusiveMinimum":0,"maximum":9007199254740991},"timeout_s":{"default":30,"type":"number","exclusiveMinimum":0}}},"note":{"description":"label stored with the sample, e.g. 'touch 3, rolled +45deg'","type":"string"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device","description":"Call a named device with action (default read) and args. Its profile declares operations, units and parameters. Prefer servo for arm goals and run_policy for synchronized action chunks. Servo waits its planned duration by default. Set block=false to return immediately. Verify arrival with measured feedback.\nLoad an inactive device before use. load/unload accept no arguments; status inspects readiness without starting services. Calls enforce device permissions. Python tools cannot load or unload devices.\nResults contain data and/or a file path. Camera reads accept output=\"file\", \"base64\", or \"array\". Direct reads default to base64 and attach the RGB image with camera identity and timestamp in every mode; no file-opening call is needed. Inside Python tools, reads default to arrays; base64 returns encoded images and file returns saved paths. Resolve named device:frame references with relative_pose. World read returns time_s and optional budget {used_s,max_s}: episode time consumed and allowed in seconds, with max_s null for no cap. Budget is driver-reported information, not enforced by Kinex. world.wait(duration_s) waits on the driver clock and returns time_s and waited_s for that wait, without a budget. Actuator writes take duration_s and return immediately; use world.wait to pace control.\nverbose defaults to true; false omits empty optional feedback while preserving faults, timestamps and unknown fields. compact selects single-line JSON.\n\nPython: device(deviceID, action=\"read\", args=None) returns data fields directly, plus file when present. Use devices for concurrent calls.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"compact":{"default":false,"description":"single-line JSON output — use in polling/sampling loops","type":"boolean"},"verbose":{"default":true,"description":"keep all result fields; false omits empty optional feedback","type":"boolean"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device_stop","description":"Stop the named device, or all loaded actuators when deviceID is omitted. Stops use\neach driver's declared behavior and affected-device scope. No approval is required.\nResults report each device's acknowledgment or failure; inspect failures before resuming.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"description":"device to stop; omit to stop every loaded actuated device","type":"string"},"reason":{"description":"why the stop was triggered","type":"string"}},"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"devices","description":"Call devices concurrently with calls: [{deviceID, action?, args?}]; action defaults\nto read. Returns {results: [...]} in input order, with deviceID, action, ok and\ndata/file or error per entry. Python devices(calls) uses the same structure.\nCamera modes match device; attached images follow call order. Permissions are\nchecked before dispatch. Sampling is not simultaneous and effects are not atomic.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"calls":{"minItems":1,"type":"array","items":{"type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}}},"required":["deviceID"],"additionalProperties":false}}},"required":["calls"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"exec","description":"Run ordinary Python source or a script file with Kinex runtime access. Import device, devices, call, profile, robot, or Device from kinex. call(\"servo\", device=\"arm\", joints=target) and call(\"servo\", **params) take keyword arguments, not a positional dictionary; device(\"world\", \"wait\", {\"duration_s\": duration}) takes an argument dictionary. call composes Python tools or device/devices, not host tools. print() goes to output; finish(value, file=path_or_paths) returns JSON with one or more images in order.\n\nWhen the next decision needs images, control, wait as needed, read measured feedback, and capture selected cameras with output=\"file\" in the same script; return their paths through finish. Blocking servo already waits its planned duration; verify arrival instead of waiting it again. Printing paths does not attach images.\n\nUse bounded Python loops for feedback control, checking faults and missing feedback; call stop_owned() when ending a loop that must stop motion. Return images to the model when further control requires visual interpretation. Device lifecycle changes and recording tool calls are unavailable. Failure, timeout or cancellation stops owned motion; successful completion may leave motion running.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"description":{"description":"Short lowercase description of the task, for display","type":"string"},"python":{"description":"Python source, including multiline scripts; provide exactly one of python or file","type":"string","minLength":1},"file":{"description":"Script path, relative to the working directory or absolute","type":"string","minLength":1},"args":{"default":{},"description":"Values available through kinex.args()","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"argv":{"default":[],"description":"Script command-line arguments","type":"array","items":{"type":"string"}},"interpreter":{"description":"Python executable; defaults to the managed Kinex Python environment","type":"string","minLength":1},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":2147483}},"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"locate_object_3d","description":"[perception tool, python] Locate an object in the camera optical frame (+X right, +Y down, +Z forward) using a detection or segmentation device with RGBD or explicit optical depth. Samples only inside a supplied mask; otherwise uses the central half of the box. Returns a representative point in metres, pixel, detection_score, depth_samples, and reference (visible_surface or box_region). Box estimates may include background. rotation_xyzw is null. No mount calibration is needed; convert frames with relative_pose after constructing a full local pose with an explicit orientation.\n\nDevice input camera: rgb | rgbd (checked against the selected device).\nDevice input model: detection | segmentation (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"camera":{"type":"string","description":"rgb or rgbd camera with calibrated color intrinsics"},"model":{"type":"string","description":"detection or segmentation device serving detect(image, prompt, min_score, max_results)"},"prompt":{"type":"string","minLength":1,"description":"object description, e.g. red mug"},"depth":{"type":"number","exclusiveMinimum":0,"description":"optional optical Z in metres at the representative region pixel; otherwise use the captured RGBD depth"},"min_score":{"type":"number","minimum":0,"maximum":1,"default":0.25,"description":"minimum detection score"},"instance":{"type":"integer","minimum":0,"default":0,"description":"zero-based index after filtering and sorting by descending score; ties keep model order"}},"required":["camera","model","prompt"]}},{"name":"profile_write","description":"Persist profile facts in the workspace:\n- robot: partial manifest; identity requires id, name, platform and kind initially.\n- device: partial profile; name is required, type on first write. Use setup-device and the selected guide for new devices.\n- needed: {item,note?}; queue the reason without changing existing provenance.\n\nPatches deep-merge. To switch a strict variant, supply the complete top-level section and list it in replace (e.g. [\"intrinsics\"]). Arrays replace wholesale. null removes an optional section only when listed in replace. Changing device type replaces its profile. Invalid updates are not saved.\n\nOutstanding requests persist across reads and replacements. Clear a resolved request with needs_calibration:null in its section; the store rejects clearing incomplete facts. Unknown required facts remain ???. Set source to the origin of the data; keep diagnostics in calibration evidence.\n\nNew devices use loaded:false; activation uses the device tool (action=\"load\") or /load, not profile edits. Profiles live at .kinex/devices/<name>/profile.yaml beside the driver, using the nearest .kinex/ in the current directory or its ancestors (the current directory's .kinex/ if none exists). Validation errors identify fields and the guide to consult.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"kind":{"type":"string","enum":["robot","device","needed"]},"replace":{"default":[],"description":"Supplied top-level sections to replace instead of merge; null removes optional sections","type":"array","items":{"type":"string"}},"data":{"type":"object","propertyNames":{"type":"string"},"additionalProperties":{},"description":"partial workspace manifest patch (identity required on first write) for kind=robot, partial device patch (must include name; type on first write) for kind=device, or {item, note?} for kind=needed"}},"required":["kind","data"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"relative_pose","description":"[perception tool, python] Express a frame-attached child pose in a frame-attached parent pose. Input and returned poses are [x,y,z,qx,qy,qz,qw], metres and unit quaternion xyzw; omitted input poses are identity. Returns only pose, path and estimated_links. Resolves calibrated/live frames and optional call-local estimates; never invents missing connections or persists estimates.\n\nDevice input child.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input parent.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].child: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].parent: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"parent":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"estimates":{"type":"array","description":"Temporary frame relations; paths prefer fewer estimated edges, then fewer total edges.","items":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"string","minLength":1},"parent":{"type":"string","minLength":1},"translation_m":{"type":"array","items":{"type":"number"},"minItems":3,"maxItems":3},"rotation_xyzw":{"type":"array","items":{"type":"number"},"minItems":4,"maxItems":4}},"required":["child","parent","translation_m","rotation_xyzw"]}}},"required":["child","parent"]}},{"name":"run_policy","description":"[controller tool, python] Infer once and submit the shared valid action prefix concurrently. Returns actions_submitted, duration_s, execution_ids (device to submission ID) and ik_failure. Use max_actions to cap the execution horizon for receding horizon control. IK rejection returns normally, including an empty prefix, with diagnostic ik_failure (device, zero-based action_index, error), or null. Execution is asynchronous.\n\nDevice input model: model (checked against the selected device).\nDevice input command[].device: joint | gripper | dexterous_hand | suction (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"model":{"type":"string","description":"model device serving an \"infer\" action (obs -> action)"},"observation":{"type":"object","description":"Observation object matching the model's infer obs contract."},"inference_args":{"type":"object","description":"Additional infer arguments validated by the model operation; cannot override obs or task."},"command":{"type":"array","minItems":1,"description":"Devices in flat-vector split order; named action maps use device names. Cartesian chunks are converted through IK before any write.","items":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"joint","dexterous_hand":null,"gripper or suction device":null},"space":{"type":"string","enum":["device","pose","pose_delta"],"default":"device","description":"device: existing absolute joint/scalar values. pose: xyz + quaternion xyzw (7). pose_delta: translation metres + axis-angle rotation radians (6), accumulated from the starting pose. Cartesian modes require joint IK."},"frame":{"type":"string","description":"Cartesian reference frame, frozen at planning start; defaults to the device canonical frame. Rotation deltas left-compose in these axes."},"target_frame":{"type":"string","description":"Controlled frame, rigidly attached to the arm's kinematics.frame; defaults to that frame."}},"required":["device"]}},"task":{"type":"string","description":"task or goal handed to the model, e.g. a language instruction"},"action_hz":{"type":"number","exclusiveMinimum":0,"default":10,"description":"actions replayed per second of the device's own clock"},"max_actions":{"type":"integer","minimum":1,"description":"Execution horizon: submit at most the first N inferred actions, discarding the remainder before validation and IK. Omit to use the whole chunk. Each call infers anew from the supplied observation. IK rejection may shorten this prefix further."}},"required":["model","observation","command"]}},{"name":"servo","description":"[controller tool, python] Plan and submit a full joint trajectory for a joint device or dexterous hand. Blocks by default for the computed duration on a loaded world clock. Set block=false to return immediately. Results include device, execution_id, requested/IK-resolved target joints, computed duration_s and actions_submitted. Verify arrival with measured feedback. Later writes or stop can interrupt the plan.\n\nDevice input device: joint | dexterous_hand (checked against the selected device).\nDevice input world: world (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}},"required":["device"],"oneOf":[{"type":"object","additionalProperties":false,"required":["device","joints"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}},{"type":"object","additionalProperties":false,"required":["device","pose"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}}]}},{"name":"setup_plan","description":"Inspect or maintain the agent-authored embodiment DAG. This is task-scoped planning,\nnever a gate on device operations. Read with full:true for the complete graph and\navailable procedure descriptors; the default shows only the current task's gaps.\nUse the returned revision for save/select/record; conflicting edits must be reread.\n\nSave version:1 nodes with IDs, kind prepare/calibrate/verify, skill, concrete device\nrole bindings, dependsOn IDs, input facts and expected output facts. A profile fact\nuses kind:profile, device (omit for workspace manifest), and JSON pointer; optional\nvalue requires an exact match. Use narrow profile pointers for both inputs and\noutputs, tracking only facts relevant to the node's conclusion. Keep volatile\nloaded/meta fields and live poses out of persistent calibration dependencies and\noutputs. File facts use paths relative to .kinex. Select a\ntask with objective, target node IDs and optional direct facts. Only the targets'\ndependency closure is required now; unrelated work stays deferred. task:null\ndefers all calibration. An empty targets list can describe a task requiring no\ncalibration. Skill descriptors list their exact roles, requirements and coverage.\n\nRecord done only after verifying persisted outputs and archiving supporting\nevidence files (paths relative to .kinex). Existing factory/model/calibration facts\ncan satisfy a node without new measurements. Partial results may satisfy a narrower\ntask: split broad nodes into independently useful outputs. Never mark deferred work\ndone or clear incomplete profile requests. Verification receipts describe evidence,\nnot safety certification. Revisions and stale evidence never prevent unrelated\noperations. Replan only relevant gaps and return to the task as soon as satisfied.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","oneOf":[{"type":"object","properties":{"action":{"type":"string","const":"read"},"full":{"default":false,"type":"boolean"}},"required":["action"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"save"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"plan":{"type":"object","properties":{"version":{"type":"number","const":1},"nodes":{"type":"array","items":{"type":"object","properties":{"id":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"title":{"type":"string","minLength":1},"kind":{"type":"string","enum":["prepare","calibrate","verify"]},"skill":{"type":"string","minLength":1},"bindings":{"default":{},"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"dependsOn":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"outputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"optional":{"default":false,"type":"boolean"}},"required":["id","title","kind","skill"],"additionalProperties":false}},"task":{"default":null,"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["version","nodes"],"additionalProperties":false}},"required":["action","revision","plan"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"select"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"task":{"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["action","revision","task"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"record"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"outcome":{"type":"object","properties":{"status":{"type":"string","enum":["done","partial","failed","needs-input"]},"note":{"type":"string","minLength":1},"evidence":{"minItems":1,"type":"array","items":{"type":"string","minLength":1}}},"required":["status","note","evidence"],"additionalProperties":false}},"required":["action","revision","node","outcome"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"skill","description":"Loads a skill by name and returns its full instructions. Skills are listed in the\n<available_skills> block of the current context; load one when its description matches the\ncurrent task, then follow its instructions.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"name":{"type":"string","description":"name of the skill to load"}},"required":["name"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"question","description":"Ask the user for missing facts or choices.","parameters":{"type":"object","required":["questions"],"properties":{"questions":{"type":"array","items":{"type":"object","required":["header","question","options"],"properties":{"header":{"type":"string"},"question":{"type":"string"},"options":{"type":"array","items":{"type":"object","required":["label"],"properties":{"label":{"type":"string"},"description":{"type":"string"}}}},"multiple":{"type":"boolean"}}}}}}}]}}
+{"type":"message","id":"0c62fdb1","parentId":"36740b3c","timestamp":"2026-10-23T05:55:44.366Z","message":{"role":"user","content":[{"type":"text","text":"# Task: isaaclab/chemlab-hood-light-sash\n\nTurn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}],"timestamp":1792734944362}}
+{"type":"custom_message","customType":"kinex-context","content":"<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-a3b68f15bcfb46389f1b5d57466430c2/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>","display":false,"details":{"core.conventions":"<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>","core.guides":"Device guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-a3b68f15bcfb46389f1b5d57466430c2/config/device, /opt/kinex/packages/core/assets/builtin/device.","core.python":"{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}","core.recording":"","core.skills":"<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>","problems":""},"id":"7e7a2340","parentId":"0c62fdb1","timestamp":"2026-10-23T05:55:44.367Z"}
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+{"type":"message","id":"70e28df9","parentId":"deda465b","timestamp":"2026-10-23T05:55:56.962Z","message":{"role":"toolResult","toolCallId":"call_1378f8ae9f574044b97720e14146cc1c|fc_0b7eb8ec4734ab23016adaf6ece3608191826f9f579d116bc5","toolName":"read","content":[{"type":"text","text":"identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n"}],"isError":false,"durationMs":4,"timestamp":1792734956962}}
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\"x-unit\": \"s\"\n        }\n      },\n      \"display.lcd_cells\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maxLength\": 80,\n          \"type\": \"string\"\n        }\n      },\n      \"display.text\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maxLength\": 80,\n          \"type\": \"string\"\n        }\n      },\n      \"display.velocity\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"exhaust.controls\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"fan.on\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"fixture.gas_open\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maximum\": 1.0,\n          \"minimum\": 0.0,\n          \"type\": \"number\",\n          \"x-unit\": \"1\"\n        }\n      },\n      \"fixture.water_open\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maximum\": 1.0,\n          \"minimum\": 0.0,\n          \"type\": \"number\",\n          \"x-unit\": \"1\"\n        }\n      },\n      \"fixtures.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"indicator.mute\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"indicator.safe\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"indicator.unsafe\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"keylock.mode\": {\n    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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trace.json
new file mode 100644
index 0000000000000000000000000000000000000000..f654b3e3428a349ecc7c24fa18d8301bfdef3182
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trace.json
@@ -0,0 +1 @@
+{"schema": "rlebench/kinex-trace/1", "source": "Pi native session", "usage_source": "pi-normalized", "cache_coverage": "normalized-values", "reasoning_coverage": "normalized-values", "info": {"type": "session", "version": 3, "id": "01a16754-5809-75c2-9aca-22ab92552c5b", "timestamp": "2026-10-23T05:55:43.241Z", "cwd": "/workspace"}, "messages": [{"id": "36740b3c", "role": "system", "timestamp": "2026-10-23T05:55:44.366Z", "parts": [{"type": "text", "text": ""}]}, {"id": "0c62fdb1", "role": "user", "timestamp": "2026-10-23T05:55:44.366Z", "parts": [{"type": "text", "text": "# Task: isaaclab/chemlab-hood-light-sash\n\nTurn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}]}, {"id": "7e7a2340", "role": "context", "timestamp": "2026-10-23T05:55:44.367Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-a3b68f15bcfb46389f1b5d57466430c2/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>"}], "context": true}, {"id": "f464516c", "role": "assistant", "timestamp": "2026-10-23T05:55:49.100Z", "parts": [{"type": "tool", "callID": "call_9a67605d8053450682833c55279a0a73|fc_0b7eb8ec4734ab23016adaf6e3fbe881919b2a14337aa5f097", "name": "bash", "input": {"command": "roboenv describe --endpoint \"$ROBOENV_ENDPOINT\" && roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json", "timeout": 30}, "output": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"17e48ff88cfdbe00\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-hood-light-sash\", \"instruction\": \"Turn on the hood light and fan, and set sash height to 0.457 m. 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Hold these settings with the monitor indicating safe airflow for one simulation second.\", \"native_instruction\": \"\"}}\n{\"device_service\": {\"contract\": \"roboenv/devices/1\", \"ready\": true}, \"endpoint\": \"http://127.0.0.1:8123\", \"generation\": 0, \"protocol\": \"roboenv/1\", \"session\": \"17e48ff88cfdbe00\", \"supervisor\": \"ok\", \"worker\": {\"alive\": true, \"state\": \"ready\"}, \"simulation\": {\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 116}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"schema\": \"roboenv/simulation-status/1\", \"session\": \"17e48ff88cfdbe00\", \"simulation_time_s\": null, \"state\": \"ready\", \"terminal\": false}}\n"}]}, {"id": "149e2c69", "role": "context", "timestamp": "2026-10-23T05:55:49.584Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n</kinex_context>"}], "context": true}, {"id": "064bb07a", "role": "assistant", "timestamp": "2026-10-23T05:55:52.093Z", "parts": [{"type": "tool", "callID": "call_e09c131ae6664a93b143a65ea9238cb3|fc_0b7eb8ec4734ab23016adaf6e772b881918010d3c7ac284a62", "name": "ls", "input": {"path": ".kinex"}, "output": "devices/\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12873, "outputTokens": 20, "cachedInputTokens": 12288, "cacheReportedInputTokens": 12873, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12873, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 20}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "ce4b1749", "role": "toolResult", "timestamp": "2026-10-23T05:55:52.098Z", "parts": [{"type": "text", "text": "devices/\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml"}]}, {"id": "8bb21495", "role": "assistant", "timestamp": "2026-10-23T05:55:56.955Z", "parts": [{"type": "tool", "callID": "call_9627f69ff3d74e72a55816cff8986385|fc_0b7eb8ec4734ab23016adaf6ea97588191b6338fe2a1b7b51c", "name": "read", "input": {"path": ".kinex/devices/instrument/profile.yaml", "offset": null, "limit": null}, "output": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T05:55:41.660516+00:00'\n  updated_at: '2026-10-23T05:55:41.660516+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - anemometer_measure\n    - blower_set_speed\n    - damper_set\n    - events_read\n    - fan_set\n    - fan_toggle\n    - fixture_set\n    - keylock_set\n    - light_set\n    - light_toggle\n    - load\n    - monitor_calibrate\n    - monitor_configure\n    - monitor_night_setback\n    - monitor_press\n    - operation_cancel\n    - operation_poll\n    - panel_capture\n    - panel_press\n    - panel_switch\n    - read\n    - sash_release\n    - sash_set\n    - source_place\n    - source_remove\n    - status\n    - unload\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_5a8c048ccae24f78a44eeb620b154501|fc_0b7eb8ec4734ab23016adaf6ece36081919e70a378c3d77196", "name": "read", "input": {"path": ".kinex/devices/world/profile.yaml", "offset": null, "limit": null}, "output": "name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T05:55:41.664933+00:00'\n  updated_at: '2026-10-23T05:55:41.664933+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_1378f8ae9f574044b97720e14146cc1c|fc_0b7eb8ec4734ab23016adaf6ece3608191826f9f579d116bc5", "name": "read", "input": {"path": ".kinex/workspace.yaml", "offset": null, "limit": null}, "output": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_778cc94a213342cdb0b0ca82055966b4|fc_0b7eb8ec4734ab23016adaf6ece3608191833299b46a27f64c", "name": "ls", "input": {"path": ".kinex/memos"}, "output": "(empty directory)", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_056f8638e086436eb3fc16561a1d8820|fc_0b7eb8ec4734ab23016adaf6ece36081919ea654b5a7d2e3ae", "name": "ls", "input": {"path": ".kinex/tools"}, "output": "(empty directory)", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_c132e23390bd456db77ca6390432ddbf|fc_0b7eb8ec4734ab23016adaf6ece36081919e24f6e41204b5ee", "name": "ls", "input": {"path": ".kinex/skills"}, "output": "(empty directory)", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12917, "outputTokens": 156, "cachedInputTokens": 12800, "cacheReportedInputTokens": 12917, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12917, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 156}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "7f00255a", "role": "toolResult", "timestamp": "2026-10-23T05:55:56.962Z", "parts": [{"type": "text", "text": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T05:55:41.660516+00:00'\n  updated_at: '2026-10-23T05:55:41.660516+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - anemometer_measure\n    - blower_set_speed\n    - damper_set\n    - events_read\n    - fan_set\n    - fan_toggle\n    - fixture_set\n    - keylock_set\n    - light_set\n    - light_toggle\n    - load\n    - monitor_calibrate\n    - monitor_configure\n    - monitor_night_setback\n    - monitor_press\n    - operation_cancel\n    - operation_poll\n    - panel_capture\n    - panel_press\n    - panel_switch\n    - read\n    - sash_release\n    - sash_set\n    - source_place\n    - source_remove\n    - status\n    - unload\n"}]}, {"id": "deda465b", "role": "toolResult", "timestamp": "2026-10-23T05:55:56.962Z", "parts": [{"type": "text", "text": "name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T05:55:41.664933+00:00'\n  updated_at: '2026-10-23T05:55:41.664933+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n"}]}, {"id": "70e28df9", "role": "toolResult", "timestamp": "2026-10-23T05:55:56.962Z", "parts": [{"type": "text", "text": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n"}]}, {"id": "339185fe", "role": "toolResult", "timestamp": "2026-10-23T05:55:56.962Z", "parts": [{"type": "text", "text": "(empty directory)"}]}, {"id": "caf2734f", "role": "toolResult", "timestamp": "2026-10-23T05:55:56.962Z", "parts": [{"type": "text", "text": "(empty directory)"}]}, {"id": "2875d6e8", "role": "toolResult", "timestamp": "2026-10-23T05:55:56.962Z", "parts": [{"type": "text", "text": "(empty directory)"}]}, {"id": "7e857c40", "role": "assistant", "timestamp": "2026-10-23T05:55:59.876Z", "parts": [{"type": "tool", "callID": "call_fde90f663a9c46ae95e3cf03f6d1a822|fc_0b7eb8ec4734ab23016adaf6ef961081919548a80bcb499c7e", "name": "ls", "input": {"path": ".kinex/devices/instrument"}, "output": "connection.json\ndriver.py\nintrinsics.json\nprofile.yaml", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13797, "outputTokens": 24, "cachedInputTokens": 12928, "cacheReportedInputTokens": 13797, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13797, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 24}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "68dc0de5", "role": "toolResult", "timestamp": "2026-10-23T05:55:59.880Z", "parts": [{"type": "text", "text": "connection.json\ndriver.py\nintrinsics.json\nprofile.yaml"}]}, {"id": "5665f257", "role": "assistant", "timestamp": "2026-10-23T05:56:03.538Z", "parts": [{"type": "tool", "callID": "call_3b15a93c51c14aeb8da3e8fa016fcccd|fc_0b7eb8ec4734ab23016adaf6f313348191a038e241f7ca7c24", "name": "read", "input": {"path": ".kinex/devices/instrument/driver.py", "offset": null, "limit": null}, "output": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13844, "outputTokens": 34, "cachedInputTokens": 13696, "cacheReportedInputTokens": 13844, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13844, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 34}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "b7b95822", "role": "toolResult", "timestamp": "2026-10-23T05:56:03.542Z", "parts": [{"type": "text", "text": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n"}]}, {"id": "a583cff3", "role": "assistant", "timestamp": "2026-10-23T05:56:05.782Z", "parts": [{"type": "tool", "callID": "call_b0c8f76e48a842d19cce5414c1360acf|fc_0b7eb8ec4734ab23016adaf6f554a8819193b5132bf20744c0", "name": "read", "input": {"path": ".kinex/devices/instrument/intrinsics.json", "offset": null, "limit": null}, "output": "{\n  \"instrument\": {\n    \"asset_id\": \"instrument.esco_efa5uduvw\",\n    \"catalog_id\": \"CHEM-199\",\n    \"domain\": \"Lab Environment & Utilities\",\n    \"manufacturer\": \"Esco Lifesciences\",\n    \"model\": \"Frontier Acela EFA-5UDUVW-9\",\n    \"name\": \"Chemical fume hood\",\n    \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\",\n    \"size_m\": [\n      1.602,\n      0.9097,\n      1.521\n    ],\n    \"state_slots\": {\n      \"buzzer.on\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"clock.time_s\": {\n        \"unit\": \"s\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"s\"\n        }\n      },\n      \"display.lcd_cells\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maxLength\": 80,\n          \"type\": \"string\"\n        }\n      },\n      \"display.text\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maxLength\": 80,\n          \"type\": \"string\"\n        }\n      },\n      \"display.velocity\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"exhaust.controls\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"fan.on\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"fixture.gas_open\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maximum\": 1.0,\n          \"minimum\": 0.0,\n          \"type\": \"number\",\n          \"x-unit\": \"1\"\n        }\n      },\n      \"fixture.water_open\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"maximum\": 1.0,\n          \"minimum\": 0.0,\n          \"type\": \"number\",\n          \"x-unit\": \"1\"\n        }\n      },\n      \"fixtures.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"indicator.mute\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"indicator.safe\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"indicator.unsafe\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"keylock.mode\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"off\",\n            \"limit\",\n            \"closed\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"lamp.lit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"light.on\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"lighting.illuminance_lux\": {\n        \"unit\": \"lux\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"lux\"\n        }\n      },\n      \"mains.on\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"monitor.alarm\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"enum\": [\n                \"low\",\n                \"high\"\n              ],\n              \"type\": \"string\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"monitor.menu\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"maxLength\": 80,\n              \"type\": 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"role": "toolResult", "timestamp": "2026-10-23T05:56:22.673Z", "parts": [{"type": "text", "text": "usage: roboenv devices [-h] [--name NAME] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --name NAME          Describe one device\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n"}]}, {"id": "40e91e1b", "role": "assistant", "timestamp": "2026-10-23T05:56:26.386Z", "parts": [{"type": "tool", "callID": "call_b1a0b620421c43c38db20488e97ce30a|fc_0b7eb8ec4734ab23016adaf709ec548191841c5e3a94805151", "name": "bash", "input": {"command": "roboenv devices --endpoint \"$ROBOENV_ENDPOINT\" --name instrument", "timeout": 30}, "output": "{\"actions\": {\"anemometer_measure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"anemometer.measure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, 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{\"since_s\": {\"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"events.read\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"exhaust_filter\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"exhaust.filter\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"fan_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"fan.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"fan_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"fan.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"fixture_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"fixture\": {\"enum\": [\"cold_water\", \"gas\"], \"type\": \"string\"}, \"open_fraction\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"fixture\", \"open_fraction\"], \"title\": \"fixture.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"keylock_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"mode\": {\"enum\": [\"off\", \"limit\", \"closed\"], \"type\": \"string\"}}, \"required\": [\"mode\"], \"title\": \"keylock.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"light_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"light.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"light_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"light.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"monitor_calibrate\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"pin\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"reference_m_s\": {\"maximum\": 0.9, \"minimum\": 0.2, \"type\": \"number\", \"x-unit\": \"m/s\"}}, \"required\": [\"reference_m_s\"], \"title\": \"monitor.calibrate\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"monitor_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"high_alarm_m_s\": {\"maximum\": 0.9, \"minimum\": 0.2, \"type\": \"number\", \"x-unit\": \"m/s\"}, \"low_alarm_m_s\": {\"maximum\": 0.9, \"minimum\": 0.2, \"type\": \"number\", \"x-unit\": \"m/s\"}, \"new_pin\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"pin\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"units\": {\"enum\": [\"metric\", \"imperial\"], \"type\": \"string\"}}, \"required\": [], \"title\": \"monitor.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"monitor_night_setback\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"closed\": {\"type\": \"boolean\"}}, \"required\": [\"closed\"], \"title\": \"monitor.night_setback\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"monitor_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"key\": {\"enum\": [\"menu\", \"up\", \"down\", \"test\", \"set\", \"mute\"], \"type\": \"string\"}}, \"required\": [\"key\"], \"title\": \"monitor.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_poll\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"lcd\", \"led_safe\", \"led_unsafe\", \"led_mute\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"key_menu\", \"key_up\", \"key_down\", \"key_set\", \"key_test\", \"key_mute\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_switch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"input_id\": {\"enum\": [\"light_switch\", \"fan_switch\", \"keylock\"], \"type\": \"string\"}, \"position\": {\"enum\": [\"closed\", \"limit\", \"off\", \"on\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"position\"], \"title\": \"panel.switch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"sash_auto_position\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sash.auto_position\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"sash_horizontal_panels\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sash.horizontal_panels\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"sash_release\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sash.release\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sash_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"height_m\": {\"maximum\": 0.67, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"m\"}, \"hold\": {\"type\": \"boolean\"}}, \"required\": [\"height_m\"], \"title\": \"sash.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"source_place\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"area_m2\": {\"maximum\": 0.1, \"minimum\": 1e-05, \"type\": \"number\", \"x-unit\": \"m2\"}, \"liquid_id\": {\"enum\": [\"acetic_acid\", \"acetic_anhydride\", \"acetone\", \"acetonitrile\", \"aniline\", \"benzaldehyde\", \"benzene\", \"benzyl_alcohol\", \"butan_1_ol\", \"butanoic_acid\", \"butanone\", \"butyl_acetate\", \"carbon_tetrachloride\", \"chlorobenzene\", \"chloroform\", \"cyclohexane\", \"cyclohexanone\", \"decane\", \"dichloroethane_1_2\", \"dichloromethane\", \"diethyl_ether\", \"dmf\", \"dmso\", \"ethanol\", \"ethyl_acetate\", \"ethyl_butanoate\", \"ethylbenzene\", \"ethylene_glycol\", \"formic_acid\", \"hexan_1_ol\", \"hexane\", \"isobutanol\", \"m_xylene\", \"methanol\", \"methyl_acetate\", \"methyl_formate\", \"nitrobenzene\", \"nonane\", \"o_xylene\", \"octan_1_ol\", \"octane\", \"p_xylene\", \"pentane\", \"propan_1_ol\", \"propan_2_ol\", \"propyl_acetate\", \"styrene\", \"tetrahydrofuran\", \"toluene\", \"triethylamine\", \"water\"], \"type\": \"string\"}, \"mass_kg\": {\"maximum\": 5.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"kg\"}, \"source_id\": {\"maxLength\": 80, \"type\": \"string\"}}, \"required\": [\"source_id\", \"liquid_id\", \"mass_kg\", \"area_m2\"], \"title\": \"source.place\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"source_remove\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"source_id\": {\"maxLength\": 80, \"type\": \"string\"}}, \"required\": [\"source_id\"], \"title\": \"source.remove\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"vav_control\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"vav.control\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"instrument\", \"profile\": \"devices/instrument/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {\"calibrated_at\": null, \"method\": \"manual\", \"mount\": {\"parent\": \"world\", \"parent_frame\": \"world\", \"rotation_xyzw\": [0, 0, 0, 1], \"translation_m\": [0, 0, 0]}, \"source\": \"user\"}, \"implementation\": \"ChemLab instrument interface\", \"intrinsics\": {\"instrument\": {\"asset_id\": \"instrument.esco_efa5uduvw\", \"catalog_id\": \"CHEM-199\", \"domain\": \"Lab Environment & Utilities\", \"manufacturer\": \"Esco Lifesciences\", \"model\": \"Frontier Acela EFA-5UDUVW-9\", \"name\": \"Chemical fume hood\", \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\", \"size_m\": [1.602, 0.9097, 1.521], \"state_slots\": {\"buzzer.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"clock.time_s\": {\"unit\": \"s\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"s\"}}, \"display.lcd_cells\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.text\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.velocity\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"exhaust.controls\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"fan.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"fixture.gas_open\": {\"unit\": \"1\", \"value_schema\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"fixture.water_open\": {\"unit\": \"1\", \"value_schema\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"fixtures.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"indicator.mute\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.safe\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.unsafe\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"keylock.mode\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"off\", \"limit\", \"closed\"], \"type\": \"string\"}}, \"lamp.lit\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"light.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"lighting.illuminance_lux\": {\"unit\": \"lux\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"lux\"}}, \"mains.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"monitor.alarm\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"enum\": [\"low\", \"high\"], \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"monitor.menu\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"monitor.muted\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"monitor.reading_m_s\": {\"unit\": \"m/s\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"m/s\"}, {\"type\": \"null\"}]}}, \"monitor.settings\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"night_setback.closed\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"outlets.powered\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"plant.configured\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"sash.height_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.67, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"sash.held\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"sources.placed\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 16983, "outputTokens": 36, "cachedInputTokens": 16768, "cacheReportedInputTokens": 16983, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 16983, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 36}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "a97b8599", "role": "toolResult", "timestamp": "2026-10-23T05:56:26.637Z", "parts": [{"type": "text", "text": "{\"actions\": {\"anemometer_measure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"anemometer.measure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"blower_set_speed\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"speed\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"speed\"], \"title\": \"blower.set_speed\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"damper_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"open_fraction\": {\"maximum\": 1.0, \"minimum\": 0.05, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"open_fraction\"], \"title\": \"damper.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"distillation_grid_mount\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"distillation_grid.mount\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"events_read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"since_s\": {\"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"events.read\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"exhaust_filter\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"exhaust.filter\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"fan_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"fan.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"fan_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"fan.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"fixture_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"fixture\": {\"enum\": [\"cold_water\", \"gas\"], \"type\": \"string\"}, \"open_fraction\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"fixture\", \"open_fraction\"], \"title\": \"fixture.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"keylock_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"mode\": {\"enum\": [\"off\", \"limit\", \"closed\"], \"type\": \"string\"}}, \"required\": [\"mode\"], \"title\": \"keylock.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"light_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"light.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"light_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"light.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"monitor_calibrate\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"pin\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"reference_m_s\": {\"maximum\": 0.9, \"minimum\": 0.2, \"type\": \"number\", \"x-unit\": \"m/s\"}}, \"required\": [\"reference_m_s\"], \"title\": \"monitor.calibrate\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"monitor_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"high_alarm_m_s\": {\"maximum\": 0.9, \"minimum\": 0.2, \"type\": \"number\", \"x-unit\": \"m/s\"}, \"low_alarm_m_s\": {\"maximum\": 0.9, \"minimum\": 0.2, \"type\": \"number\", \"x-unit\": \"m/s\"}, \"new_pin\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"pin\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"units\": {\"enum\": [\"metric\", \"imperial\"], \"type\": \"string\"}}, \"required\": [], \"title\": \"monitor.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"monitor_night_setback\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"closed\": {\"type\": \"boolean\"}}, \"required\": [\"closed\"], \"title\": \"monitor.night_setback\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"monitor_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"key\": {\"enum\": [\"menu\", \"up\", \"down\", \"test\", \"set\", \"mute\"], \"type\": \"string\"}}, \"required\": [\"key\"], \"title\": \"monitor.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_poll\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"lcd\", \"led_safe\", \"led_unsafe\", \"led_mute\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"key_menu\", \"key_up\", \"key_down\", \"key_set\", \"key_test\", \"key_mute\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_switch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"input_id\": {\"enum\": [\"light_switch\", \"fan_switch\", \"keylock\"], \"type\": \"string\"}, \"position\": {\"enum\": [\"closed\", \"limit\", \"off\", \"on\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"position\"], \"title\": \"panel.switch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"sash_auto_position\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sash.auto_position\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"sash_horizontal_panels\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sash.horizontal_panels\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"sash_release\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sash.release\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sash_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"height_m\": {\"maximum\": 0.67, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"m\"}, \"hold\": {\"type\": \"boolean\"}}, \"required\": [\"height_m\"], \"title\": \"sash.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"source_place\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"area_m2\": {\"maximum\": 0.1, \"minimum\": 1e-05, \"type\": \"number\", \"x-unit\": \"m2\"}, \"liquid_id\": {\"enum\": [\"acetic_acid\", \"acetic_anhydride\", \"acetone\", \"acetonitrile\", \"aniline\", \"benzaldehyde\", \"benzene\", \"benzyl_alcohol\", \"butan_1_ol\", \"butanoic_acid\", \"butanone\", \"butyl_acetate\", \"carbon_tetrachloride\", \"chlorobenzene\", \"chloroform\", \"cyclohexane\", \"cyclohexanone\", \"decane\", 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80, \"type\": \"string\"}}, \"required\": [\"source_id\"], \"title\": \"source.remove\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"vav_control\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"vav.control\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"instrument\", \"profile\": \"devices/instrument/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {\"calibrated_at\": null, \"method\": \"manual\", \"mount\": {\"parent\": \"world\", \"parent_frame\": \"world\", \"rotation_xyzw\": [0, 0, 0, 1], \"translation_m\": [0, 0, 0]}, \"source\": \"user\"}, \"implementation\": \"ChemLab instrument interface\", \"intrinsics\": {\"instrument\": {\"asset_id\": \"instrument.esco_efa5uduvw\", \"catalog_id\": \"CHEM-199\", \"domain\": \"Lab Environment & Utilities\", \"manufacturer\": \"Esco Lifesciences\", \"model\": \"Frontier Acela EFA-5UDUVW-9\", \"name\": \"Chemical fume hood\", \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\", \"size_m\": [1.602, 0.9097, 1.521], \"state_slots\": {\"buzzer.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"clock.time_s\": {\"unit\": \"s\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"s\"}}, \"display.lcd_cells\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.text\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.velocity\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"exhaust.controls\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"fan.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"fixture.gas_open\": {\"unit\": \"1\", \"value_schema\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"fixture.water_open\": {\"unit\": \"1\", \"value_schema\": {\"maximum\": 1.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"fixtures.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"indicator.mute\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.safe\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.unsafe\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"keylock.mode\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"off\", \"limit\", \"closed\"], \"type\": \"string\"}}, \"lamp.lit\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"light.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"lighting.illuminance_lux\": {\"unit\": \"lux\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"lux\"}}, \"mains.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"monitor.alarm\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"enum\": [\"low\", \"high\"], \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"monitor.menu\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maxLength\": 80, \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"monitor.muted\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"monitor.reading_m_s\": {\"unit\": \"m/s\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"m/s\"}, {\"type\": \"null\"}]}}, \"monitor.settings\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"night_setback.closed\": {\"unit\": \"1\", \"value_schema\": {\"type\": 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"isError": false, "metadata": {}}], "usage": {"inputTokens": 21246, "outputTokens": 26, "cachedInputTokens": 20992, "cacheReportedInputTokens": 21246, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 21246, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 26}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "0e04f85e", "role": "toolResult", "timestamp": "2026-10-23T05:56:37.398Z", "parts": [{"type": "text", "text": "{\"observations\":{\"buzzer.on\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\"clock.time_s\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"s\",\"value\":55.6},\"display.lcd_cells\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"SAFE\"},\"display.text\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"SAFE\"},\"display.velocity\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":0.4},\"exhaust.controls\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"blower_speed\":0.9,\"damper_open\":null}},\"fan.on\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"fixture.gas_open\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":0},\"fixture.water_open\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":0},\"fixtures.state\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"cold_water\":0,\"gas\":0}},\"indicator.mute\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\"indicator.safe\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"indicator.unsafe\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\"keylock.mode\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"off\"},\"lamp.lit\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"light.on\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"lighting.illuminance_lux\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"lux\",\"value\":915},\"mains.on\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"monitor.alarm\":{\"quality\":\"unavailable\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\"monitor.menu\":{\"quality\":\"unavailable\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\"monitor.muted\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\"monitor.reading_m_s\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"m/s\",\"value\":0.4},\"monitor.settings\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"calibrated\":false,\"high_alarm_m_s\":0.7,\"low_alarm_m_s\":0.3,\"pin_set\":false,\"units\":\"metric\"}},\"night_setback.closed\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\"outlets.powered\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"plant.configured\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\"sash.height_m\":{\"quality\":\"estimated\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"m\",\"value\":0.457},\"sash.held\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\"sources.placed\":{\"quality\":\"valid\",\"sample_time_s\":55.6,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{}}},\"timestamp\":55.6,\"simulation\":{\"budget\":{\"max\":null,\"unit\":\"action_frames\",\"used\":556},\"capabilities\":{\"bounded_episodes\":true,\"terminal_feedback\":true},\"generation\":0,\"schema\":\"roboenv/simulation-status/1\",\"session\":\"17e48ff88cfdbe00\",\"simulation_time_s\":null,\"state\":\"terminal\",\"terminal\":true}}"}]}, {"id": "595ad5ce", "role": "assistant", "timestamp": "2026-10-23T05:56:49.657Z", "parts": [{"type": "reasoning", "text": ""}, {"type": "tool", "callID": "call_95ec15198b5742cd8cba366cea6fe04c|fc_0b7eb8ec4734ab23016adaf717b65881918edb15f3b13bf750", "name": "write", "input": {"path": ".kinex/memos/chemlab-hood.md", "content": "# ChemLab hood light/fan/sash\n\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` and status first. Read registered profiles and instrument feedback. Public action schemas are available through `roboenv devices --endpoint \"$ROBOENV_ENDPOINT\" --name instrument`.\n\nFor the 0.457 m task, Kinex instrument commands: `fan_set {\"on\":true}`, `light_set {\"on\":true}`, `sash_set {\"height_m\":0.457,\"hold\":true}`. Read observations afterward: check light.on, lamp.lit, fan.on, sash.height_m, indicator.safe, indicator.unsafe, display.text and monitor.reading_m_s. Initial blower speed 0.9 produced SAFE at 0.4 m/s without monitor configuration/calibration changes. Sash response may report held:false at this height despite hold:true; verify height rather than assuming hold semantics.\n\nRequire settings and safe airflow for at least one simulation second, using world.wait and repeated feedback if still running. Realtime advances between calls. The observed episode was already terminal on feedback one simulation second after sash_set, with all targets met. Do not issue further instrument commands after terminal. Use status to inspect budget/state (not judgment), then `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` for final judgment. 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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trajectory.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed598bb912df4969970e8cb990b3563f379d9189
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trajectory.json
@@ -0,0 +1,383 @@
+{
+  "agent": {
+    "model_name": "openai-codex/gpt-6-astra",
+    "name": "kinex",
+    "version": "feb75f7c3c2c08976c25f274402da6d40cf83a6ed4c0ac38ddebec3cb8046ded"
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+  "notes": "Usage-bearing native entries only; full interaction is in trace.json and session.jsonl. Pi normalized zero counters are preserved; see usage-audit.json.",
+  "schema_version": "ATIF-v1.7",
+  "session_id": "01a16754-5809-75c2-9aca-22ab92552c5b",
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/usage-audit.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/usage-audit.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f11d2dfde1b7a15e86bdf33278bcd44c059e50
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+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/usage-audit.json
@@ -0,0 +1,183 @@
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/analysis.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/analysis.json
new file mode 100644
index 0000000000000000000000000000000000000000..94de63fe544b64a5ee3cd9b7b59e7a6c41ea5918
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/analysis.json
@@ -0,0 +1,344 @@
+{
+  "slug": "01-hood-light-sash",
+  "task": "isaaclab/chemlab-hood-light-sash",
+  "title": "Hood light, sash & airflow",
+  "instruction": "Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.",
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+      "unit": "1",
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+      "final_satisfied": true
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+      "arguments": {
+        "on": true
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+      "capability": "fan.set",
+      "frame": 503,
+      "instrument": "instrument",
+      "status": "succeeded"
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+      "instrument": "instrument",
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+      {
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+        "cached_input_tokens": 20992,
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+      {
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+      {
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+      },
+      {
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+        "output_tokens": 43,
+        "reasoning_output_tokens": 0
+      }
+    ],
+    "usage_source": "provider-raw"
+  },
+  "replay": {
+    "passed": true,
+    "frames": 556,
+    "native_success": true,
+    "rendered": true,
+    "scene_matched": true,
+    "record_sha256": "0e26d9230335c2d3829e121e6cd9ae250e9c2d44abbbcf9b6f3b262fb1eec55d"
+  },
+  "analysis": {
+    "recommendation": "retain as easier reference",
+    "confidence": "single seed only",
+    "difficulty": "Public instrument-interface discovery, parameter selection and state verification; no robot manipulation.",
+    "scene_goal_alignment": "The original instruction states the target and dwell requirement. Initial conditions are unsatisfied; terminal native state meets all predicates. The overview and instrument screen are recorded together.",
+    "rsi_hypothesis": "Reusable interface discovery and state-verification routines may transfer across instruments; no adaptation or multi-seed gain was measured.",
+    "failure_mechanism": null,
+    "replay_scope": "Command replay from the original initialization, with source/assets/dependency identity and terminal-state/verdict checks. It is not per-frame physical trajectory restoration.",
+    "summary_zh": "模型通过公开接口依次开启风机、开启照明、将窗扇设为 0.457 m。原生状态确认照明、风机、窗扇和安全气流条件持续满足 1 秒。场景中的窗扇位置与仪器状态分别保留在证据中；评分依据仪器过程模型。适合作为多条件状态核验的简单参考任务。"
+  },
+  "media": {
+    "video": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/media/combined.mp4",
+    "poster": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/media/first.jpg",
+    "extra_views": []
+  },
+  "evidence": {
+    "record": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/final-observation.json",
+    "terminal": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/terminal.json",
+    "session": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/session.jsonl",
+    "trace": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/trace.json",
+    "usage": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/usage-audit.json",
+    "summary": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/summary.json",
+    "definition": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/task.yaml",
+    "instruction": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/agent/instruction.txt",
+    "journal": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/journal/actions.jsonl",
+    "media": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/media/verification.json",
+    "replay": "model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/replay.json"
+  },
+  "first_command_time_s": 50.300000000000445
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/harbor/01-hood-light-sash__4BYim2Q/result.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/harbor/01-hood-light-sash__4BYim2Q/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c33b41ff8d69b0ad752eb24771a31c2cebe5187
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+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/harbor/01-hood-light-sash__4BYim2Q/result.json
@@ -0,0 +1,333 @@
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new file mode 100644
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"274bf96d18e0b8ae89cf7e71c4a8e1e1d5b635606107d4485bfd60e3d6d4b40f", "tasks/chemlab/instrument.py": "e9ad0e99585e37315d81cd086b6ee65dcb8c8dbda52cd123dda6457d59973c6e", "tasks/chemlab/physics.py": "863766f268d17a0fd1b71011b129eac13f2a13d81a01a511d492cc9e6e9b0c96", "tasks/chemlab/projection.py": "982dc08262729d2da75e24a51b01755ee60c0393735caca9e842aa825a3a80d8", "tasks/chemlab/readouts.py": "1724673e3a4897825e8d5a047581fbae820e2ca755b0f97fa7d11e855ed0ac11", "tasks/chemlab/scene.py": "62b151a8c117107140c601bae4f9aa9b7d07040997b6db79f73b1f94ae0591aa", "tasks/chemlab/supplements.py": "9d82a17b9118232b507450842a1fa2ee01527219935db1365d485d55ffd51c58", "tasks/chemlab/task.py": "3d04eebd1a238f183df50381a9b80aa14e299963e38e47f9dfc63f36c8be4131", "upstreams.lock.json#isaaclab": "6cd6e96ad329c6c4a141ca9a2177b9a5b1d70d2ca7319862cfdfdf09ca1c7bda"}, "state": {"instrument": {"buzzer.on": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": false}, "clock.time_s": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "s", "value": 55.6}, "display.lcd_cells": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": "SAFE"}, "display.text": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": "SAFE"}, "display.velocity": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": 0.4}, "exhaust.controls": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": {"blower_speed": 0.9, "damper_open": null}}, "exhaust.state": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": {"blower_speed": 0.9, "damper_open": null, "duct_k": 3751.7806100367575, "flow_m3_s": 0.0, "mode": "blower", "suction_pa": 284.1210750753475}}, "fan.on": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "fixture.gas_open": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": 0.0}, "fixture.water_open": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": 0.0}, "fixtures.state": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": {"cold_water": 0.0, "gas": 0.0}}, "indicator.mute": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": false}, "indicator.safe": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "indicator.unsafe": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": false}, "keylock.mode": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": "off"}, "lamp.lit": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "light.on": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "lighting.illuminance_lux": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "lux", "value": 915.0}, "mains.on": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "monitor.alarm": {"quality": "unavailable", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": null}, "monitor.menu": {"quality": "unavailable", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": null}, "monitor.muted": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": false}, "monitor.reading_m_s": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "m/s", "value": 0.4}, "monitor.settings": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": {"calibrated": false, "high_alarm_m_s": 0.7, "low_alarm_m_s": 0.3, "pin_set": false, "units": "metric"}}, "night_setback.closed": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": false}, "outlets.powered": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "plant.configured": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": true}, "sash.height_m": {"quality": "estimated", "sample_time_s": 55.6, "sample_window_s": null, "unit": "m", "value": 0.457}, "sash.held": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": false}, "sources.placed": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": {}}, "truth.faults": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": []}, "truth.process": {"quality": "valid", "sample_time_s": 55.6, "sample_window_s": null, "unit": "1", "value": {"concentrations": {}, "cross_draft_m_s": 0.05, "effective_opening_m2": 0.6657777777777778, "escape_fraction": 2.471329471717188e-07, "exhaust_flow_m3_s": 0.23755685385330338, "exhaust_flow_target_m3_s": 0.2725250302546724, "face_velocity_m_s": 0.35681102881837956, "gas_flow_m3_s": 0.0, "hood_static_pa": 18.555842297283156, "methane_exhaust_lfl_fraction": null, "sensor_gain": 0.9779659496782543, "sensor_signal_m_s": 0.39450519895649755, "sources": {}, "tracer_m3_s": 0.0, "water_flow_m3_s": 0.0}}}}, "stop_on_success": true, "submitted": true, "success_latched": true, "task": "isaaclab/chemlab-hood-light-sash", "task_definition": {"dwell_s": 1.0, "goals": [{"equals": true, "instrument": "instrument", "state": "light.on"}, {"instrument": "instrument", "max": 0.458, "min": 0.456, "state": "sash.height_m"}, {"equals": true, "instrument": "instrument", "state": "fan.on"}, {"equals": true, "instrument": "instrument", "state": "lamp.lit"}, {"equals": true, "instrument": "instrument", "state": "indicator.safe"}], "instruments": {"instrument": {"asset": "instrument.esco_efa5uduvw", "initialize": [{"arguments": {"ambient_k": 295.15, "noise_seed": 1, "pressure_pa": 101325.0}, "capability": "plant.configure"}, {"arguments": {"blower_speed": 0.9, "mode": "blower"}, "capability": "exhaust.configure"}]}}}}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/instruction.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/instruction.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b50c71bc48e85f2198415c3546acabc34670d34
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/instruction.json
@@ -0,0 +1,14 @@
+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.",
+  "native_instruction": "",
+  "policy": "original_native",
+  "prompt": "# Task: isaaclab/chemlab-hood-light-sash\n\nTurn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "prompt_template": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-hood-light-sash\n\nTurn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "schema": "rlebench/episode-instruction/3",
+  "source": "catalog",
+  "task_id": "isaaclab/chemlab-hood-light-sash",
+  "template": "Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second."
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/journal/actions.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/journal/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9eac62f71a14cef7b000289bef73d6c1a782ec3c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/journal/actions.jsonl
@@ -0,0 +1,36 @@
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"devices.list","protocol":"roboenv/1","request_id":"roboenv-981feb063a448a49","session":"17e48ff88cfdbe00"},"supervisor_pid":27,"time_ns":1792734937486744488,"ts":"2026-10-23T05:55:37.486655+00:00"}
+{"elapsed_s":0.089055,"journal_version":1,"phase":"commit","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"devices.list","protocol":"roboenv/1","request_id":"roboenv-981feb063a448a49","session":"17e48ff88cfdbe00"},"response":{"generation":0,"ok":true,"protocol":"roboenv/1","request_id":"roboenv-981feb063a448a49","result":{"devices":[{"actions":{"anemometer_measure":{"input_schema":{"additionalProperties":false,"properties":{},"required":[],"title":"anemometer.measure","type":"object"},"read_only":false,"supported":true},"blower_set_speed":{"input_schema":{"additionalProperties":false,"properties":{"speed":{"maximum":1.0,"minimum":0.0,"type":"number","x-unit":"1"}},"required":["speed"],"title":"blower.set_speed","type":"object"},"read_only":false,"supported":true},"damper_set":{"input_schema":{"additionalProperties":false,"properties":{"open_fraction":{"maximum":1.0,"minimum":0.05,"type":"number","x-unit":"1"}},"required":["open_fraction"],"title":"damper.set","type":"object"},"read_only":false,"supported":true},"distillation_grid_mount":{"input_schema":{"additionalProperties":false,"properties":{},"required":[],"title":"distillation_grid.mount","type":"object"},"read_only":false,"reason":"Unsupported by upstream runtime","supported":false},"events_read":{"input_schema":{"additionalProperties":false,"properties":{"since_s":{"minimum":0.0,"type":"number","x-unit":"s"}},"required":[],"title":"events.read","type":"object"},"read_only":false,"supported":true},"exhaust_filter":{"input_schema":{"additionalProperties":false,"properties":{},"required":[],"title":"exhaust.filter","type":"object"},"read_only":false,"reason":"Unsupported by upstream 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+|     |                                  |        |     |            | 1e        |            |
+|=============================================================================================|
+| OS: 24.04.1 LTS (Noble Numbat) ubuntu, Version: 24.04.1, Kernel: 6.8.0-124-generic
+| Processor: INTEL(R) XEON(R) GOLD 6548Y+
+| Cores: 64 | Logical Cores: 128
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 1547791 | Free Memory: 1389035
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-23T05:54:07Z [1,743ms] [Warning] [omni.rtx] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+2026-10-23T05:54:07Z [1,751ms] [Warning] [omni.rtx] ECC is enabled on physical device 0
+2026-10-23T05:54:07Z [1,755ms] [Warning] [omni.rtx] IOMMU is enabled.
+2026-10-23T05:54:08Z [3,338ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T05:54:08Z [3,338ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T05:54:09Z [3,512ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T05:54:09Z [3,512ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T05:54:09Z [3,516ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T05:54:09Z [3,516ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T05:54:09Z [4,400ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'any' as 'Any'
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'bool' as 'Bool' and array 'BoolArray
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'bundle' as 'Bundle'
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray
+2026-10-23 05:54:13,774 DEBUG AutoNode: Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'double' as 'Double' and array 'DoubleArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'double[2]' as 'Double2' and array 'Double2Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'double[3]' as 'Double3' and array 'Double3Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'double[4]' as 'Double4' and array 'Double4Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'execution' as 'Execution'
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'float' as 'Float' and array 'FloatArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'float[2]' as 'Float2' and array 'Float2Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'float[3]' as 'Float3' and array 'Float3Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'float[4]' as 'Float4' and array 'Float4Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'frame[4]' as 'Frame' and array 'FrameArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'half' as 'Half' and array 'HalfArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'half[2]' as 'Half2' and array 'Half2Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'half[3]' as 'Half3' and array 'Half3Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'half[4]' as 'Half4' and array 'Half4Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'int' as 'Int' and array 'IntArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'int[2]' as 'Int2' and array 'Int2Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'int[3]' as 'Int3' and array 'Int3Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'int[4]' as 'Int4' and array 'Int4Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'int64' as 'Int64' and array 'Int64Array
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'path' as 'Path'
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray
+2026-10-23 05:54:13,775 DEBUG AutoNode: Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'quath[4]' as 'Quath' and array 'QuathArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'string' as 'String'
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'target' as 'Target'
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'token' as 'Token' and array 'TokenArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'uchar' as 'UChar' and array 'UCharArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'uint' as 'UInt' and array 'UIntArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'uint64' as 'UInt64' and array 'UInt64Array
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray
+2026-10-23 05:54:13,776 DEBUG AutoNode: Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray
+2026-10-23T05:54:14Z [8,950ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-23T05:54:14Z [9,188ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-23T05:54:32Z [26,942ms] [Warning] [rtx.hydra] RenderDelegate : Warning /rtx/hydra/readTransformsFromFabricInRenderDelegate and geometry streaming are enabled together but this can cause issues with dynamic objects not streaming correctly due to problems in the transform update.
+[ISAACLAB] AppLauncher initialization complete
+2026-10-23 05:55:22,987 WARNING isaaclab_physx.physics.physx_manager: TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23T05:55:22Z [77,499ms] [Warning] [isaaclab_physx.physics.physx_manager] TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23 05:55:23,389 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Startup: isaacsim.asset.transformer.rules-1.7.10
+2026-10-23 05:55:23,441 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 05:55:23,856 INFO isaacsim.asset.importer.utils.impl.asset_utils: Fixed base already present on /esco_efa5uduvw/Geometry/base_link - skipping fix_base.
+2026-10-23 05:55:23,857 INFO isaacsim.asset.importer.utils.impl.asset_utils: Relocated ArticulationRootAPI on 1 rigid body(ies).
+2026-10-23 05:55:23,863 INFO isaacsim.asset.importer.utils.impl.importer_utils: Applied RobotAPI to prim /esco_efa5uduvw
+2026-10-23 05:55:23,866 INFO isaacsim.asset.importer.utils.impl.importer_utils: Set isaac:robotType = 'Default' on /esco_efa5uduvw
+2026-10-23 05:55:23,927 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 05:55:25,015 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/17e48ff88cfdbe00/evidence/tmp/chemlab-textures-pl5q3oul/instrument/physics/model/payloads/base.usda
+2026-10-23 05:55:25,422 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/17e48ff88cfdbe00/evidence/tmp/chemlab-textures-pl5q3oul/instrument/physics/model/model.usda
+2026-10-23 05:55:25,427 INFO isaacsim.asset.transformer.manager: Skipping disabled rule: Delete Newton Redundant APIs
+2026-10-23 05:55:25,814 INFO isaaclab.utils.backend_utils: Registered backend 'physx' for factory Articulation.
+[INFO]: Registered backend 'physx' for factory Articulation.
+2026-10-23T05:55:27Z [81,653ms] [Warning] [omni.usd] Encountered USD Warnings but USD Diagnostics are currently muted. To view USD Warnings, please set the '/persistent/app/usd/muteUsdDiagnostics' setting to false in Preferences page.
+2026-10-23 05:55:33,131 INFO isaaclab_physx.assets.articulation.articulation: Simulation parameters for joints in /World/instrument/physics:
++-------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                   Simulation Joint Information (Prim path: /World/instrument/physics)                                                   |
++-------+--------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+| Index | Name               | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction | Position Limits | Velocity Limits | Effort Limits |
++-------+--------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+|   0   | sash_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.673] |      57.296     |     10.000    |
+|   1   | knob_water_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
+|   2   | knob_gas_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
+|   3   | light_switch_joint |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   4   | fan_switch_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   5   | key_menu_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   6   | key_up_joint       |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   7   | key_test_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   8   | key_set_joint      |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   9   | key_down_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   10  | key_mute_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
++-------+--------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+[INFO]: Simulation parameters for joints in /World/instrument/physics:
++-------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                   Simulation Joint Information (Prim path: /World/instrument/physics)                                                   |
++-------+--------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+| Index | Name               | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction | Position Limits | Velocity Limits | Effort Limits |
++-------+--------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+|   0   | sash_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.673] |      57.296     |     10.000    |
+|   1   | knob_water_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
+|   2   | knob_gas_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
+|   3   | light_switch_joint |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   4   | fan_switch_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   5   | key_menu_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   6   | key_up_joint       |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   7   | key_test_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   8   | key_set_joint      |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   9   | key_down_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   10  | key_mute_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
++-------+--------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+2026-10-23T05:55:33Z [88,483ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
+2026-10-23 05:55:34,055 INFO isaaclab_physx.renderers.isaac_rtx_renderer_utils: RTX streaming completed in 0.05 s.
+[INFO]: RTX streaming completed in 0.05 s.
+2026-10-23 05:55:36,473 INFO isaacsim.asset.transformer.rules.utils: Discovered 12 Kit-shipped MDL basename(s) and 12 suffix form(s) (merged with 15 hardcoded fallback basename(s)).
+2026-10-23T05:55:36Z [90,986ms] [Warning] [omni.kit.material.library.material_extensions] Could not initialize context menu integration: No module named 'omni.kit.context_menu'
+2026-10-23 05:55:37,439 INFO __main__: worker ready: task=isaaclab/chemlab-hood-light-sash seed=0 mode=practice socket=/tmp/roboenv-socket-wtvjjuom/worker.sock
+/usr/lib/python3.12/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/native-initialization.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/native-initialization.json
new file mode 100644
index 0000000000000000000000000000000000000000..60aef58812b14a0974fd0ec9837aecbd80a1af2c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/native-initialization.json
@@ -0,0 +1,2214 @@
+{
+  "assets": {
+    "instruments": {
+      "instrument.agilent_1260infinity": {
+        "capabilities": 25,
+        "contract_sha256": "917a33bd5ba24b2c08b23f83cbe5a2284419b996d38796fe6ea5db4018f52d02",
+        "glb_sha256": "5cedb0acbd3d2981abe3f5dd7baaf1029e4f729ff6c6e178e0d6afe4779e793f",
+        "unsupported": 4,
+        "urdf_sha256": "ffda50cc455ab9f1c50c93d31ecf19213327996705e2f14bd00d9ba57de6e69c"
+      },
+      "instrument.agilent_1290infinity": {
+        "capabilities": 18,
+        "contract_sha256": "5b4bf089aaae875e665e3573b6a4e78efdbabd51376820b289667b4ffc9aee1c",
+        "glb_sha256": "6e50416396aed0c382dadd768730c1c9a51651a857df6382e298b0f9da18da5a",
+        "unsupported": 2,
+        "urdf_sha256": "574b6228deec0960c7556159f18b11ca4bdb188b7d5da891cf7401699876fba0"
+      },
+      "instrument.agilent_7890b_ssl_fid": {
+        "capabilities": 80,
+        "contract_sha256": "87b579d58636583037219d53703951dec6c1e6b4d50423ca99713a038f6afe28",
+        "glb_sha256": "02ae5910f151633d9fce43521cacded2c8af5c296cb463e2f4dba7b05db956cc",
+        "unsupported": 3,
+        "urdf_sha256": "88e0b63ea32ed83c150b4cd229267ca97a65cc8fa4f55a8f2db99b8d9ec13353"
+      },
+      "instrument.agilent_gc8890b": {
+        "capabilities": 88,
+        "contract_sha256": "e402c7043374321121e18ae740ba49572d1d18be27a94961df0e0ff7761253d3",
+        "glb_sha256": "abd24cfd94b4281fe1439b85333c7c55d679313ad63446ad56ebc7248e3f5962",
+        "unsupported": 10,
+        "urdf_sha256": "6bb871da38e11735eb8d8e15330e67946254f46fef10e4ef7ac5d6435ddc83a2"
+      },
+      "instrument.agilent_hplc1260": {
+        "capabilities": 15,
+        "contract_sha256": "51f45358be0f768a4d2511317eba12e95a38b6c8e9333a7bccb0610fa1379557",
+        "glb_sha256": "f7e46d383e82093a138753205ac8fef33dc32e0e8d626d8c894d3050f5107242",
+        "unsupported": 5,
+        "urdf_sha256": "3edf5b2802fbe44282a3cecf293451eb01217fef1285cb462779210806b35ee3"
+      },
+      "instrument.agilent_hs8697": {
+        "capabilities": 37,
+        "contract_sha256": "7f746eab4065ee796e3922be1b390538dd72ad54b1d550599ae2805cae065f60",
+        "glb_sha256": "78ac4067ec0d3c2888dd7b9f8dc4333eb07a656d9446ffe892c6cf82d0211f93",
+        "unsupported": 5,
+        "urdf_sha256": "0127b803fd51ee38f070534ed4d4042528801c5d1bda54b91d4c60ed42426c38"
+      },
+      "instrument.alicat_mc_1slpm_rev6": {
+        "capabilities": 24,
+        "contract_sha256": "ea769bfc35b86ac0c64548417973af89fe85a6c13e175f9ab382c44795da8819",
+        "glb_sha256": "28eb7577cb2abe3e42515b1cd062c72f803ad52d29e92babb7c27d7735f878de",
+        "unsupported": 1,
+        "urdf_sha256": "f471e6b094fb76441a09d1dec3d194ec3e6ab193244efb361613c48fb6f189af"
+      },
+      "instrument.ametek_oxtran": {
+        "capabilities": 48,
+        "contract_sha256": "ed33b0a042ef02d36e73c392a61035cd2504de7b9a20c539fee2ad4b6796e70d",
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+    }
+  }
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/recording/frames.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/recording/frames.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9157cd4086bcfcd8f8fbe388265338a66dc450a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/recording/frames.jsonl
@@ -0,0 +1,557 @@
+{"source_time_s": 0.0, "frame_start": 0, "frame_stop": 1}
+{"source_time_s": 0.1, "frame_start": 1, "frame_stop": 2}
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+{"source_time_s": 1.0999999999999999, "frame_start": 11, "frame_stop": 12}
+{"source_time_s": 1.2, "frame_start": 12, "frame_stop": 13}
+{"source_time_s": 1.3, "frame_start": 13, "frame_stop": 14}
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+{"source_time_s": 55.40000000000052, "frame_start": 554, "frame_stop": 555}
+{"source_time_s": 55.50000000000052, "frame_start": 555, "frame_stop": 556}
+{"source_time_s": 55.60000000000052, "frame_start": 556, "frame_stop": 557}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/recording/manifest.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/recording/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c946ea3a4a202708fec9e1ed8f8f7ca69524439
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/recording/manifest.json
@@ -0,0 +1,35 @@
+{
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+  "clock": "simulation",
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+  "encoded_frames": 557,
+  "end_time_s": 55.60000000000052,
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+  "experimental": true,
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+  "overflow_policy": "drop",
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+  "represented_samples": 557,
+  "schema": "roboenv/recording/1",
+  "state": "closed",
+  "status": "complete",
+  "views": [
+    {
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+      "height": 720,
+      "name": "third_person",
+      "pose": null,
+      "source": "third_person",
+      "width": 1280
+    },
+    {
+      "fov_y": 50.0,
+      "height": 720,
+      "name": "instrument_lcd",
+      "pose": null,
+      "source": "instrument_lcd",
+      "width": 1280
+    }
+  ]
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/stopped.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/stopped.json
new file mode 100644
index 0000000000000000000000000000000000000000..6592aa332e740fa650d802b56784ac1865460473
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/stopped.json
@@ -0,0 +1,20 @@
+{
+  "budget": {
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+    "unit": "action_frames",
+    "used": 556
+  },
+  "capabilities": {
+    "bounded_episodes": true,
+    "terminal_feedback": true
+  },
+  "generation": 0,
+  "reason": "success",
+  "schema": "roboenv/simulation-status/1",
+  "service_state": "stopped",
+  "session": "17e48ff88cfdbe00",
+  "simulation_time_s": null,
+  "state": "terminal",
+  "success": true,
+  "terminal": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/terminal.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/terminal.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b36013f62feb7870b766a4af80bc331802d7662
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/owner/terminal.json
@@ -0,0 +1,50 @@
+{
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+      }
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+    "session": "17e48ff88cfdbe00",
+    "simulation_time_s": null,
+    "state": "terminal",
+    "success": true,
+    "terminal": true
+  },
+  "task": "isaaclab/chemlab-hood-light-sash",
+  "verdict": {
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+    "detail": {
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+    "raw_score": 1.0,
+    "reward": 1.0,
+    "submitted": true,
+    "tier": 0
+  }
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/replay.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/replay.json
new file mode 100644
index 0000000000000000000000000000000000000000..336b2f54d2518f055fc3d144364c726a6462e34f
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/replay.json
@@ -0,0 +1,8 @@
+{
+  "passed": true,
+  "frames": 556,
+  "native_success": true,
+  "rendered": true,
+  "scene_matched": true,
+  "record_sha256": "0e26d9230335c2d3829e121e6cd9ae250e9c2d44abbbcf9b6f3b262fb1eec55d"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/summary.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6e2132b8f689eb89ecb00153c12580aaf8e518c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/summary.json
@@ -0,0 +1,301 @@
+{
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+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/task.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/task.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..855e081b85d0779f90020216ac8cf5cb7568053e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/task.yaml
@@ -0,0 +1,42 @@
+id: isaaclab/chemlab-hood-light-sash
+robot: isaaclab/isaaclab-chemlab-instruments
+instruction: Turn on the hood light and fan, and set sash height to 0.457 m.
+  Hold these settings with the monitor indicating safe airflow for one simulation second.
+seed: 0
+budget_mode: practice
+execution_mode: realtime
+stop_on_success: true
+backend_kwargs:
+  task_name: chemlab-instruments
+  task_spec:
+    instruments:
+      instrument:
+        asset: instrument.esco_efa5uduvw
+        initialize:
+        - capability: plant.configure
+          arguments:
+            ambient_k: 295.15
+            pressure_pa: 101325.0
+            noise_seed: 1
+        - capability: exhaust.configure
+          arguments:
+            mode: blower
+            blower_speed: 0.9
+    goals:
+    - instrument: instrument
+      state: light.on
+      equals: true
+    - instrument: instrument
+      state: sash.height_m
+      min: 0.456
+      max: 0.458
+    - instrument: instrument
+      state: fan.on
+      equals: true
+    - instrument: instrument
+      state: lamp.lit
+      equals: true
+    - instrument: instrument
+      state: indicator.safe
+      equals: true
+    dwell_s: 1.0
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/artifacts.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/artifacts.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dd8143a1b2ee4015eb9519ec0ccc49c344ce49
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/artifacts.json
@@ -0,0 +1,77 @@
+{
+  "evidence": {
+    "complete": true,
+    "path": "evidence.tar.gz"
+  },
+  "recording": {
+    "complete": true,
+    "enabled": true,
+    "encoder_complete": true,
+    "manifest": {
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+      "clock": "simulation",
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+      "error": null,
+      "experimental": true,
+      "fps": 10,
+      "overflow_policy": "drop",
+      "received_samples": 557,
+      "represented_samples": 557,
+      "schema": "roboenv/recording/1",
+      "state": "closed",
+      "status": "complete",
+      "views": [
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "third_person",
+          "pose": null,
+          "source": "third_person",
+          "width": 1280
+        },
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "instrument_lcd",
+          "pose": null,
+          "source": "instrument_lcd",
+          "width": 1280
+        }
+      ]
+    },
+    "represented_samples": 557,
+    "source_sample_coverage": 1.0,
+    "source_samples_complete": true,
+    "video_available": true,
+    "videos": [
+      {
+        "bytes": 1916308,
+        "path": "recording/third_person.mp4"
+      },
+      {
+        "bytes": 3054066,
+        "path": "recording/instrument_lcd.mp4"
+      }
+    ]
+  },
+  "schema": "rlebench/episode-artifacts/1",
+  "terminal_evidence": {
+    "available": true,
+    "complete": true,
+    "manifest": {
+      "complete": true,
+      "files": {
+        "final-observation.json": {
+          "complete": true,
+          "path": "final-observation.json",
+          "sha256": "0e26d9230335c2d3829e121e6cd9ae250e9c2d44abbbcf9b6f3b262fb1eec55d"
+        }
+      },
+      "schema": "roboenv/terminal-evidence/1"
+    }
+  },
+  "workspace_complete": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/episode.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/episode.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc42c0652785653bd296014ca7a86a9c7b5d2c2d
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/episode.json
@@ -0,0 +1,21 @@
+{
+  "episode": 1,
+  "initialization": {
+    "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+    "execution_mode": "realtime",
+    "loaded_state_sha256": "7fe8c1388320990ea44028878217a65679e0577fead244a944913dbf426d12f6",
+    "seed": 0,
+    "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+    "task": "isaaclab/chemlab-hood-light-sash",
+    "task_sha256": "9da161d86c1f9e0dd4a719b687b18f6906bdfb61ea7c8c8270f19eeb8e29207c"
+  },
+  "native_reward": 1.0,
+  "planned_episodes": 1,
+  "reason": "success",
+  "simulation_time_s": null,
+  "step_limit": null,
+  "steps": 556,
+  "success": true,
+  "valid": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/episodes.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/episodes.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf1a96edb2e8e7a37f90352ec8eeb73ce278a1a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/episodes.json
@@ -0,0 +1,23 @@
+[
+  {
+    "episode": 1,
+    "initialization": {
+      "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+      "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+      "execution_mode": "realtime",
+      "loaded_state_sha256": "7fe8c1388320990ea44028878217a65679e0577fead244a944913dbf426d12f6",
+      "seed": 0,
+      "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+      "task": "isaaclab/chemlab-hood-light-sash",
+      "task_sha256": "9da161d86c1f9e0dd4a719b687b18f6906bdfb61ea7c8c8270f19eeb8e29207c"
+    },
+    "native_reward": 1.0,
+    "planned_episodes": 1,
+    "reason": "success",
+    "simulation_time_s": null,
+    "step_limit": null,
+    "steps": 556,
+    "success": true,
+    "valid": true
+  }
+]
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/protocol.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8eaf40760099255f34779551f236530bd81832
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/protocol.json
@@ -0,0 +1,95 @@
+{
+  "episode_specs": [
+    {
+      "instruction_template": {
+        "bindings": {},
+        "policy": "original_native",
+        "prompt": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-hood-light-sash\n\nTurn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n"
+      },
+      "max_steps": null,
+      "provider": "roboenv",
+      "seed": 0,
+      "task": {
+        "backend_kwargs": {
+          "asset_directory": "/opt/roboenv/assets/chemlab/a6c006f921c9bee62f5585dd7f769163a7f51573",
+          "task_name": "chemlab-instruments",
+          "task_spec": {
+            "dwell_s": 1.0,
+            "goals": [
+              {
+                "equals": true,
+                "instrument": "instrument",
+                "state": "light.on"
+              },
+              {
+                "instrument": "instrument",
+                "max": 0.458,
+                "min": 0.456,
+                "state": "sash.height_m"
+              },
+              {
+                "equals": true,
+                "instrument": "instrument",
+                "state": "fan.on"
+              },
+              {
+                "equals": true,
+                "instrument": "instrument",
+                "state": "lamp.lit"
+              },
+              {
+                "equals": true,
+                "instrument": "instrument",
+                "state": "indicator.safe"
+              }
+            ],
+            "instruments": {
+              "instrument": {
+                "asset": "instrument.esco_efa5uduvw",
+                "initialize": [
+                  {
+                    "arguments": {
+                      "ambient_k": 295.15,
+                      "noise_seed": 1,
+                      "pressure_pa": 101325.0
+                    },
+                    "capability": "plant.configure"
+                  },
+                  {
+                    "arguments": {
+                      "blower_speed": 0.9,
+                      "mode": "blower"
+                    },
+                    "capability": "exhaust.configure"
+                  }
+                ]
+              }
+            }
+          }
+        },
+        "budget_mode": "practice",
+        "execution_mode": "realtime",
+        "id": "isaaclab/chemlab-hood-light-sash",
+        "instruction": "Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.",
+        "robot": "isaaclab/isaaclab-chemlab-instruments",
+        "seed": 0,
+        "stop_on_success": true
+      },
+      "yaml": "/opt/benchmark/episode_01.yaml"
+    }
+  ],
+  "episodes": 1,
+  "instruction_policy": "original_native",
+  "max_steps": null,
+  "memory_retention": "retain",
+  "previous_episode_feedback": false,
+  "provider": "roboenv",
+  "realtime": true,
+  "recording": true,
+  "safety_timeout_sec": 28800,
+  "seeds": [
+    0
+  ],
+  "step_unit": "native action frames",
+  "version": "episodic-learning-v1"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/reward.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/reward.json
new file mode 100644
index 0000000000000000000000000000000000000000..65efe5079f081e5942187ad7b8ecb91b4d48d4e9
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/reward.json
@@ -0,0 +1,4 @@
+{
+  "reward": 1.0,
+  "valid": 1.0
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/workspace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/workspace.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b0a379f85ee7deab778fb272db3a2838287571
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/verifier/workspace.json
@@ -0,0 +1,82 @@
+{
+  "added": [
+    ".kinex/devices/_camera.py",
+    ".kinex/devices/_roboenv.py",
+    ".kinex/devices/instrument/connection.json",
+    ".kinex/devices/instrument/driver.py",
+    ".kinex/devices/instrument/intrinsics.json",
+    ".kinex/devices/instrument/profile.yaml",
+    ".kinex/devices/world/connection.json",
+    ".kinex/devices/world/driver.py",
+    ".kinex/devices/world/profile.yaml",
+    ".kinex/memos/chemlab-hood.md",
+    ".kinex/workspace.yaml",
+    "instruction.md"
+  ],
+  "files": {
+    ".kinex/devices/_camera.py": {
+      "bytes": 2815,
+      "sha256": "308f75cac021bf6fa8c6f9649380544f48d4d3a94c674fbf8ce027d44170c447"
+    },
+    ".kinex/devices/_roboenv.py": {
+      "bytes": 22951,
+      "sha256": "91917ae37663415832f91dc404db0c31886b785a7fb45d7847feb3f937a4232b"
+    },
+    ".kinex/devices/instrument/connection.json": {
+      "bytes": 80,
+      "sha256": "14bd9a46d07e263698cbde33b5acfb67ec934dd78304a35812f87499b6986e6f"
+    },
+    ".kinex/devices/instrument/driver.py": {
+      "bytes": 1017,
+      "sha256": "bcc8581a7671c306f630caefb30d3efee41e4c9852ce9a574a4ddc6a0c97f609"
+    },
+    ".kinex/devices/instrument/intrinsics.json": {
+      "bytes": 4996,
+      "sha256": "1abaa8222af724b1e4938c594498d9e645c62dfa836338da062a86babb614ab4"
+    },
+    ".kinex/devices/instrument/profile.yaml": {
+      "bytes": 1038,
+      "sha256": "3991c9089a56a84d9f46181747caed87f994c230d62ee86194954407e344f3e9"
+    },
+    ".kinex/devices/world/connection.json": {
+      "bytes": 80,
+      "sha256": "14bd9a46d07e263698cbde33b5acfb67ec934dd78304a35812f87499b6986e6f"
+    },
+    ".kinex/devices/world/driver.py": {
+      "bytes": 846,
+      "sha256": "53170d311964250142c87df4111f277ee94ea053c9eb45d80f60d5f8c07c5b24"
+    },
+    ".kinex/devices/world/profile.yaml": {
+      "bytes": 482,
+      "sha256": "fe4240465bd59337eab02458b2632c91ade77279537714dff7092f938179ed1d"
+    },
+    ".kinex/memos/chemlab-hood.md": {
+      "bytes": 1261,
+      "sha256": "864fa7f14a87f0e608b808c6bb2a65e4b6920f85e6a81ccbba2c05fd47b01bf7"
+    },
+    ".kinex/workspace.yaml": {
+      "bytes": 596,
+      "sha256": "05ee05f92fb5d1d37b51e63bcbcde6b143458c64c0492ba5d21eb12f92e7aa1f"
+    },
+    "instruction.md": {
+      "bytes": 2654,
+      "sha256": "bdef8c7036b95df7f888616f8256e837d712a12a65cd17707302902664d7d94b"
+    }
+  },
+  "modified": [],
+  "removed": [],
+  "schema": "rlebench/episode-workspace/1",
+  "scope": [
+    "instruction.md",
+    "harness.md",
+    ".kinex/workspace.yaml",
+    ".kinex/devices",
+    "tools",
+    "skills",
+    "memos",
+    ".kinex/tools",
+    ".kinex/skills",
+    ".kinex/memos"
+  ],
+  "skipped_symlinks": []
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/_camera.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/_camera.py
new file mode 100644
index 0000000000000000000000000000000000000000..27eecb55699f9de34096f468c3ce6be4cde99338
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/_camera.py
@@ -0,0 +1,73 @@
+"""Camera output conversion; the server's artifact protocol stays unchanged."""
+
+import base64
+import io
+import math
+import struct
+from pathlib import Path
+
+
+def output_mode(value="file"):
+    if value not in ("file", "array", "base64"):
+        raise ValueError("camera output must be file, array or base64")
+    return value
+
+
+def camera_read(data, profile):
+    value = data["timestamp"]
+    if type(value) not in {int, float} or not math.isfinite(value):
+        raise ValueError("Invalid camera timestamp")
+    content = "color" in data
+    color = profile["intrinsics"]["color"]
+    if content:
+        header = base64.b64decode(data["color"], validate=True)[:26]
+    else:
+        with Path(data["file"]).open("rb") as handle:
+            header = handle.read(26)
+    if (
+        len(header) != 26
+        or header[:8] != b"\x89PNG\r\n\x1a\n"
+        or header[12:16] != b"IHDR"
+        or header[24:26] != b"\x08\x02"
+        or struct.unpack(">II", header[16:24]) != (color["width"], color["height"])
+    ):
+        raise ValueError("Remote color must be an RGB8 PNG at the profile resolution")
+    key = "color" if content else "file"
+    result = {key: data[key], "timestamp": value}
+    if profile["type"] == "rgb":
+        return result
+    depth = profile["intrinsics"]["depth"]
+    if depth["registration"] != "color" or depth["quantity"] != "z" or depth["invalid_value"] != 0:
+        raise ValueError("RoboCasa serves color-registered optical Z with zero invalid")
+    width, height = depth["width"], depth["height"]
+    expected = f"P5\n{width} {height}\n65535\n".encode()
+    key = "depth" if content else "depth_file"
+    if content:
+        raw = base64.b64decode(data[key], validate=True)
+    else:
+        with Path(data[key]).open("rb") as handle:
+            raw = handle.read(len(expected) + width * height * 2 + 1)
+    if not raw.startswith(expected) or len(raw) != len(expected) + width * height * 2:
+        raise ValueError("Remote depth must be PGM16 at the profile resolution")
+    limits = depth["valid_range_m"]
+    if any(
+        pixel != depth["invalid_value"]
+        and not limits["min"] <= pixel * depth["scale_m_per_unit"] <= limits["max"]
+        for (pixel,) in struct.iter_unpack(">H", raw[len(expected) :])
+    ):
+        raise ValueError("Remote depth exceeds the declared valid range")
+    return {**result, key: data[key]}
+
+
+def arrays(data, profile):
+    import numpy as np
+    from PIL import Image
+
+    result = dict(data)
+    for key in ("color", "depth") if profile["type"] == "rgbd" else ("color",):
+        raw = base64.b64decode(data[key], validate=True)
+        with Image.open(io.BytesIO(raw)) as image:
+            result[key] = np.array(
+                image, dtype=np.uint8 if key == "color" else np.uint16, copy=True
+            )
+    return result
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/_roboenv.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/_roboenv.py
new file mode 100644
index 0000000000000000000000000000000000000000..62fe4fea7250765be2a88c30c271bf247c8ad1e3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/_roboenv.py
@@ -0,0 +1,530 @@
+"""Portable driver dialog and transport, shared by one exported device collection."""
+
+import base64
+import contextlib
+import http.client
+import json
+import os
+import secrets
+import shutil
+import signal
+import socket
+import sys
+import tempfile
+import threading
+import time
+from concurrent.futures import ThreadPoolExecutor, wait
+from functools import cached_property
+from pathlib import Path
+from urllib.parse import quote, urlsplit
+
+MAX_BYTES = 8 * 1024 * 1024
+
+
+class WireError(RuntimeError):
+    def __init__(self, message, code, request_id, details=None):
+        super().__init__(message)
+        self.code, self.request_id, self.details = code, request_id, details
+
+
+class Transport:
+    def __init__(self, driver, *, device=None):
+        self.directory = Path(driver).resolve().parent
+        self.device = device
+        self._local = threading.local()
+        self._connections = set()
+        self._connections_lock = threading.Lock()
+        self.connection = None
+        self.last_exchange = 0
+        self.used = False
+        self.unloaded = False
+        self.deadline = None
+        self._motions = {}
+        self._motion_lock = threading.Lock()
+        self._motion_error = None
+
+    @property
+    def connection(self):
+        return getattr(self._local, "connection", None)
+
+    @connection.setter
+    def connection(self, value):
+        self._local.connection = value
+        if value is not None:
+            with self._connections_lock:
+                self._connections.add(value)
+
+    @property
+    def last_exchange(self):
+        return getattr(self._local, "last_exchange", 0)
+
+    @last_exchange.setter
+    def last_exchange(self, value):
+        self._local.last_exchange = value
+
+    def close_all(self):
+        with self._connections_lock:
+            connections, self._connections = self._connections, set()
+        for connection in connections:
+            if connection.sock is not None:
+                with contextlib.suppress(OSError):
+                    connection.sock.shutdown(socket.SHUT_RDWR)
+            connection.close()
+
+    @cached_property
+    def profile(self):
+        import yaml
+
+        return yaml.safe_load((self.directory / "profile.yaml").read_text())
+
+    def settings(self):
+        return self.profile
+
+    @cached_property
+    def config(self):
+        file = self.directory / "connection.json"
+        return (
+            json.loads(file.read_text())
+            if file.is_file()
+            else {
+                "endpoint": os.environ.get("ROBOENV_ENDPOINT"),
+                "socket": os.environ.get("ROBOENV_SOCKET"),
+                "session": os.environ.get("ROBOENV_SESSION"),
+                "generation": int(os.environ.get("ROBOENV_GENERATION", "0")),
+            }
+        )
+
+    @cached_property
+    def endpoint(self):
+        if self.config.get("endpoint") or self.config.get("socket"):
+            return self.config.get("endpoint")
+        return self.settings()["access"]["connection"]["url"]
+
+    @cached_property
+    def identity(self):
+        identity = {
+            "protocol": "roboenv/1",
+            "session": self.config.get("session") or "roboenv",
+            "generation": self.config.get("generation", 0),
+        }
+        if self.endpoint and not self.config.get("session"):
+            try:
+                found = json.loads(self.exchange(self.endpoint, "GET"))
+                if (
+                    not isinstance(found, dict)
+                    or found.get("protocol") != "roboenv/1"
+                    or not isinstance(found.get("session"), str)
+                    or type(found.get("generation")) is not int
+                    or found["generation"] < 0
+                ):
+                    raise ValueError("Endpoint returned an invalid environment identity")
+                identity = {key: found[key] for key in identity}
+            except Exception:
+                self.close()
+                raise
+        return identity
+
+    @cached_property
+    def target(self):
+        if self.device is not None:
+            return self.device
+        profile = self.settings()
+        key = "camera" if profile["type"] in {"rgb", "rgbd"} else "device"
+        return profile["access"]["connection"][key]
+
+    @cached_property
+    def can_stop(self):
+        return "stop" in self.settings()["access"]["driver"]["actions"]
+
+    def close(self):
+        if self.connection is not None:
+            with self._connections_lock:
+                self._connections.discard(self.connection)
+            self.connection.close()
+            self.connection = None
+
+    def timeout(self):
+        if self.deadline is None:
+            return 605
+        remaining = self.deadline - time.monotonic()
+        if remaining <= 0:
+            raise TimeoutError("Driver cleanup deadline exceeded")
+        return remaining
+
+    def exchange(self, endpoint, method, path="/", body=None, destination=None):
+        if self.connection is not None and time.monotonic() - self.last_exchange >= 5:
+            self.close()
+        try:
+            if self.connection is None:
+                url = urlsplit(endpoint)
+                if (
+                    url.scheme not in {"http", "https"}
+                    or not url.hostname
+                    or url.username is not None
+                    or url.password is not None
+                    or url.path not in {"", "/"}
+                    or url.query
+                    or url.fragment
+                ):
+                    raise ValueError("Expected an HTTP(S) device endpoint")
+                cls = (
+                    http.client.HTTPSConnection
+                    if url.scheme == "https"
+                    else http.client.HTTPConnection
+                )
+                self.connection = cls(url.hostname, url.port, timeout=self.timeout())
+            self.connection.timeout = self.timeout()
+            if self.connection.sock is not None:
+                self.connection.sock.settimeout(self.timeout())
+            self.connection.request(
+                method, path, body=body, headers={"Content-Type": "application/json"}
+            )
+            response = self.connection.getresponse()
+            if response.status != 200:
+                raise RuntimeError(f"HTTP {response.status}")
+            expected = response.length
+            if expected is None:
+                raise ValueError("Response requires Content-Length")
+            if destination is None:
+                raw = response.read(MAX_BYTES + 1)
+                if len(raw) > MAX_BYTES or len(raw) != expected:
+                    raise ValueError(
+                        "Oversized or incomplete response; use output='file' for large images"
+                    )
+            else:
+                size = 0
+                with destination.open("wb") as stream:
+                    while chunk := response.read(65536):
+                        size += stream.write(chunk)
+                if size != expected:
+                    raise ValueError("Incomplete artifact")
+                raw = None
+            self.last_exchange = time.monotonic()
+            if response.will_close:
+                self.close()
+            return raw
+        except BaseException:
+            # Also discard an interrupted request before SIGTERM cleanup uses the wire.
+            self.close()
+            if destination is not None:
+                destination.unlink(missing_ok=True)
+            raise
+
+    def cancel_motions(self):
+        with self._motion_lock:
+            identities = set(self._motions.values())
+            self._motions.clear()
+        for identity in identities:
+            self.remote("cancel_motion", {"execution_id": identity})
+
+    def write(self, args, reading):
+        """Validate accepted motion feedback, cancelling only this request on failure."""
+        if self._motion_error is not None:
+            raise self._motion_error
+        request_id = f"driver-{secrets.token_hex(8)}"
+        accepted = False
+        try:
+            data = self.remote("write", args, request_id=request_id)
+            accepted = True
+            if not isinstance(data, dict) or data.get("execution_id") != request_id:
+                raise ValueError("motion must return its execution_id")
+            if not isinstance(data.get("state"), dict):
+                raise ValueError("motion must return measured state")
+            return {**data, "state": reading(data["state"])}
+        except Exception as error:
+            if not accepted and not (
+                isinstance(error, WireError) and error.code == "outcome_unknown"
+            ):
+                raise
+            try:
+                result = self.remote("cancel_motion", {"execution_id": request_id})
+                if not isinstance(result, dict) or type(result.get("stopped")) is not bool:
+                    raise ValueError("Remote cancellation was not acknowledged")
+            except Exception as cleanup:
+                self._motion_error = WireError(
+                    f"{error}; cancellation failed: {cleanup}", "stop_failed", request_id,
+                    {"effects": "unknown", "validation_error": str(error),
+                     "cleanup_error": str(cleanup)},
+                )
+                raise self._motion_error from cleanup
+            with self._motion_lock:
+                if self._motions.get(self.target) == request_id:
+                    self._motions.pop(self.target)
+            raise
+
+    def remote(self, action, args, *, image_output="file", request_id=None):
+        identity = self.identity
+        if request_id is None:
+            request_id = secrets.token_hex(8)
+            if action == "wait":
+                request_id = getattr(self._local, "request_id", request_id)
+            request_id = f"driver-{request_id}"
+        request = {
+            **identity,
+            "request_id": request_id,
+            "deadline_s": 600 if self.deadline is None else self.timeout(),
+            "op": {"cancel_motion": "devices.cancel"}.get(action, "devices.call"),
+            "args": args
+            if action == "cancel_motion"
+            else {"device": self.target, "action": action, "args": args},
+        }
+        payload = json.dumps(request, allow_nan=False).encode() + b"\n"
+        if len(payload) > MAX_BYTES:
+            raise ValueError("Device request is too large")
+        if action in {"write", "wait"}:
+            with self._motion_lock:
+                self._motions[request_id if action == "wait" else self.target] = request_id
+        self.used, self.unloaded = True, False
+        # A broken connection never causes this request to be resubmitted.
+        try:
+            if self.endpoint:
+                raw = self.exchange(self.endpoint, "POST", body=payload)
+            else:
+                with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+                    sock.settimeout(self.timeout())
+                    sock.connect(self.config["socket"])
+                    sock.sendall(payload)
+                    with sock.makefile("rb") as stream:
+                        raw = stream.readline(MAX_BYTES + 1)
+            response = json.loads(raw)
+            if (
+                len(raw) > MAX_BYTES
+                or not raw.endswith(b"\n")
+                or any(response.get(key) != request[key] for key in (*identity, "request_id"))
+                or type(response.get("generation")) is not int
+                or type(response.get("ok")) is not bool
+            ):
+                raise ValueError("Incomplete or mismatched device response")
+            if response["ok"] and (
+                not isinstance(response.get("result"), dict) or "data" not in response["result"]
+            ):
+                raise ValueError("Device response has no result data")
+            if not response["ok"] and not isinstance(response.get("error"), dict):
+                raise ValueError("Device response has no error details")
+        except Exception as exc:
+            self.close()
+            raise WireError(str(exc), "outcome_unknown", request_id) from exc
+        if action == "wait":
+            with self._motion_lock:
+                self._motions.pop(request_id, None)
+        if not response["ok"]:
+            error = response["error"]
+            raise WireError(
+                error.get("message", str(error)),
+                error.get("code"),
+                request_id,
+                error.get("details"),
+            )
+        self.unloaded = action == "unload"
+        if action == "load":
+            self._motion_error = None
+        data = response["result"]["data"]
+        if "simulation" in response["result"] and isinstance(data, dict):
+            data = {**data, "simulation": response["result"]["simulation"]}
+        if (
+            action == "read"
+            and isinstance(data, dict)
+            and data.get("file")
+            and image_output != "file"
+        ):
+            data = dict(data)
+            for key, target in (("file", "color"), ("depth_file", "depth")):
+                if data.get(key):
+                    file = data.pop(key)
+                    if self.endpoint:
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(Path(file).name)}"
+                        )
+                        raw = self.exchange(self.endpoint, "GET", route)
+                    else:
+                        raw = Path(file).read_bytes()
+                    data[target] = base64.b64encode(raw).decode("ascii")
+        elif self.endpoint and action == "read" and isinstance(data, dict) and data.get("file"):
+            directory = Path(tempfile.mkdtemp(prefix="roboenv-images-"))
+            try:
+                for key in ("file", "depth_file"):
+                    if data.get(key):
+                        name = Path(data[key]).name
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(name)}"
+                        )
+                        self.exchange(self.endpoint, "GET", route, destination=directory / name)
+                        data[key] = str(directory / name)
+            except BaseException:
+                shutil.rmtree(directory)
+                raise
+        if self.unloaded:
+            self.close()
+        return data
+
+
+def main(handle, transport):
+    serving = "--serve" in sys.argv
+    can_stop = transport.can_stop if serving else False
+    pools = {}
+    writes = []
+    pending = set()
+    output_lock = threading.Lock()
+    stop_tail = None
+
+    def respond(action, args):
+        try:
+            if not isinstance(action, str) or not isinstance(args, dict):
+                raise ValueError("Expected an action name and an arguments object")
+            return handle(action, args)
+        except Exception as exc:
+            return {"ok": False, "error": str(exc)}
+
+    def terminate(_signum, _frame):
+        raise SystemExit(0)
+
+    def expired(_signum, _frame):
+        raise TimeoutError("Driver cleanup exceeded 500 ms")
+
+    previous = signal.signal(signal.SIGTERM, terminate) if serving else None
+    # Keep the response descriptor private; native SDK writes to fd 1 are logs too.
+    sys.stdout.flush()
+    with os.fdopen(os.dup(sys.stdout.fileno()), "w") as output:
+        os.dup2(sys.stderr.fileno(), sys.stdout.fileno())
+        try:
+            with contextlib.redirect_stdout(sys.stderr):
+                try:
+                    if serving:
+                        pools = {
+                            name: ThreadPoolExecutor(max_workers=count)
+                            for name, count in (
+                                ("read", 8),
+                                ("write", 1),
+                                ("stop", 1),
+                                ("capture", 1),
+                            )
+                        }
+
+                        def send(request, cancel=None, predecessor=None):
+                            transport._local.request_id = request["id"]
+                            if predecessor is not None:
+                                predecessor.result()
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "queued write interrupted by stop"}
+                            else:
+                                result = respond(request["action"], request.get("args", {}))
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "device write interrupted by stop"}
+                            with output_lock:
+                                output.write(
+                                    json.dumps({**result, "id": request["id"]}, allow_nan=False)
+                                    + "\n"
+                                )
+                                output.flush()
+
+                        for line in sys.stdin:
+                            try:
+                                request = json.loads(line)
+                                if not isinstance(request, dict) or not isinstance(
+                                    request.get("id"), str
+                                ):
+                                    raise ValueError(
+                                        "persistent requests require a string id; "
+                                        "migrate the caller"
+                                    )
+                            except ValueError as error:
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": None, "ok": False, "error": str(error)})
+                                        + "\n"
+                                    )
+                                    output.flush()
+                                break
+                            target = request.get("interrupt")
+                            if isinstance(target, str):
+                                transport.remote(
+                                    "cancel_motion", {"execution_id": f"driver-{target}"}
+                                )
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            if target is True:
+                                for _, event in writes:
+                                    event.set()
+                                if any(not future.done() for future, _ in writes):
+                                    transport.cancel_motions()
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            action = request["action"]
+                            pending = {future for future in pending if not future.done()}
+                            writes = [
+                                (future, event) for future, event in writes if not future.done()
+                            ]
+                            if action in {"stop", "unload"}:
+                                for _, event in writes:
+                                    event.set()
+                            if action in {"load", "unload"}:
+                                if (
+                                    action == "unload"
+                                    and can_stop
+                                    and any(not future.done() for future, _ in writes)
+                                ):
+                                    respond("stop", {})
+                                if action == "unload":
+                                    transport.cancel_motions()
+                                wait(pending)
+                                send(request)
+                                continue
+                            kind = (
+                                "read"
+                                if action in {"read", "wait", "status", "fk", "ik"}
+                                else "stop"
+                                if action == "stop"
+                                else "capture"
+                                if action in {"record_start", "record_stop"}
+                                else "write"
+                            )
+                            cancel = (
+                                threading.Event() if kind == "write" or action == "wait" else None
+                            )
+                            future = pools[kind].submit(
+                                send, request, cancel, stop_tail if kind == "write" else None
+                            )
+                            if kind == "stop":
+                                stop_tail = future
+                            pending.add(future)
+                            if cancel is not None:
+                                writes.append((future, cancel))
+                        wait(pending - {future for future, _ in writes})
+                        return
+                    action = sys.argv[1] if len(sys.argv) > 1 else "read"
+                    args = json.loads(sys.argv[2]) if len(sys.argv) > 2 else {}
+                    output.write(json.dumps(respond(action, args), allow_nan=False) + "\n")
+                    output.flush()
+                finally:
+                    for _, event in writes:
+                        event.set()
+                    if serving:
+                        signal.signal(signal.SIGTERM, signal.SIG_IGN)
+                        alarm = signal.signal(signal.SIGALRM, expired)
+                        transport.deadline = time.monotonic() + 0.5
+                        signal.setitimer(signal.ITIMER_REAL, 0.5)
+                        try:
+                            if transport.used and not transport.unloaded:
+                                transport.cancel_motions()
+                        except Exception as exc:
+                            print(str(exc), file=sys.stderr)
+                        finally:
+                            signal.setitimer(signal.ITIMER_REAL, 0)
+                            signal.signal(signal.SIGALRM, alarm)
+                    transport.close_all()
+                    for pool in pools.values():
+                        pool.shutdown(wait=True, cancel_futures=True)
+        finally:
+            os.dup2(output.fileno(), sys.stdout.fileno())
+            if serving:
+                signal.signal(signal.SIGTERM, previous)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff2b44574daf40a9bf9e4970c114b30daff1995
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "17e48ff88cfdbe00", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..1b14c538ba45789fb1cb30c1ac736bb6a0e58760
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/driver.py
@@ -0,0 +1,29 @@
+"""Generic remote device adapter; transport and dialog are shared with typed drivers."""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__, device=Path(__file__).parent.name)
+remote = transport.remote
+
+
+def handle(action, args):
+    try:
+        if action == "unload" and transport.can_stop:
+            stopped = remote("stop", {})
+            if stopped.get("stopped") is not True:
+                raise ValueError("Remote device did not acknowledge stop")
+        data = remote(action, args)
+        return {**(data if isinstance(data, dict) else {"result": data}), "ok": True}
+    except WireError as exc:
+        return {"ok": False, "error": str(exc), "code": exc.code, "request_id": exc.request_id}
+    except Exception as exc:
+        return {"ok": False, "error": str(exc)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/intrinsics.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/intrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ef9701d86f3d0a3923861df6cdbf37eec431df
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/intrinsics.json
@@ -0,0 +1,246 @@
+{
+  "instrument": {
+    "asset_id": "instrument.esco_efa5uduvw",
+    "catalog_id": "CHEM-199",
+    "domain": "Lab Environment & Utilities",
+    "manufacturer": "Esco Lifesciences",
+    "model": "Frontier Acela EFA-5UDUVW-9",
+    "name": "Chemical fume hood",
+    "release": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "size_m": [
+      1.602,
+      0.9097,
+      1.521
+    ],
+    "state_slots": {
+      "buzzer.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "clock.time_s": {
+        "unit": "s",
+        "value_schema": {
+          "type": "number",
+          "x-unit": "s"
+        }
+      },
+      "display.lcd_cells": {
+        "unit": "1",
+        "value_schema": {
+          "maxLength": 80,
+          "type": "string"
+        }
+      },
+      "display.text": {
+        "unit": "1",
+        "value_schema": {
+          "maxLength": 80,
+          "type": "string"
+        }
+      },
+      "display.velocity": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "1"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "exhaust.controls": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "fan.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "fixture.gas_open": {
+        "unit": "1",
+        "value_schema": {
+          "maximum": 1.0,
+          "minimum": 0.0,
+          "type": "number",
+          "x-unit": "1"
+        }
+      },
+      "fixture.water_open": {
+        "unit": "1",
+        "value_schema": {
+          "maximum": 1.0,
+          "minimum": 0.0,
+          "type": "number",
+          "x-unit": "1"
+        }
+      },
+      "fixtures.state": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "indicator.mute": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.safe": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.unsafe": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "keylock.mode": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "off",
+            "limit",
+            "closed"
+          ],
+          "type": "string"
+        }
+      },
+      "lamp.lit": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "light.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "lighting.illuminance_lux": {
+        "unit": "lux",
+        "value_schema": {
+          "type": "number",
+          "x-unit": "lux"
+        }
+      },
+      "mains.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "monitor.alarm": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "enum": [
+                "low",
+                "high"
+              ],
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "monitor.menu": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "maxLength": 80,
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "monitor.muted": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "monitor.reading_m_s": {
+        "unit": "m/s",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "m/s"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "monitor.settings": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "night_setback.closed": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "outlets.powered": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "plant.configured": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "sash.height_m": {
+        "unit": "m",
+        "value_schema": {
+          "maximum": 0.67,
+          "minimum": 0.0,
+          "type": "number",
+          "x-unit": "m"
+        }
+      },
+      "sash.held": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "sources.placed": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      }
+    }
+  },
+  "source": "user"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..29682af8f8452ee325cc0768affabc83f0947069
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/instrument/profile.yaml
@@ -0,0 +1,60 @@
+name: instrument
+type: other
+intrinsics:
+  source: user
+extrinsics:
+  calibrated_at: null
+  method: manual
+  mount:
+    parent: world
+    parent_frame: world
+    rotation_xyzw:
+    - 0
+    - 0
+    - 0
+    - 1
+    translation_m:
+    - 0
+    - 0
+    - 0
+  source: user
+meta:
+  created_at: '2026-10-23T05:55:41.660516+00:00'
+  updated_at: '2026-10-23T05:55:41.660516+00:00'
+access:
+  source: user
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: instrument
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - anemometer_measure
+    - blower_set_speed
+    - damper_set
+    - events_read
+    - fan_set
+    - fan_toggle
+    - fixture_set
+    - keylock_set
+    - light_set
+    - light_toggle
+    - load
+    - monitor_calibrate
+    - monitor_configure
+    - monitor_night_setback
+    - monitor_press
+    - operation_cancel
+    - operation_poll
+    - panel_capture
+    - panel_press
+    - panel_switch
+    - read
+    - sash_release
+    - sash_set
+    - source_place
+    - source_remove
+    - status
+    - unload
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff2b44574daf40a9bf9e4970c114b30daff1995
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "17e48ff88cfdbe00", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd94061b26ce7bffb5a4862b68dc7e4561c5b4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/driver.py
@@ -0,0 +1,27 @@
+"""World read returns time_s and optional budget {used_s, max_s}.
+Wait returns time_s and waited_s; transport preserves clock precision.
+"""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__)
+
+
+def handle(action, args):
+    try:
+        if action not in {"read", "wait", "load", "unload", "status"}:
+            raise ValueError(f"Unsupported world action: {action}")
+        return {"ok": True, **transport.remote(action, args)}
+    except WireError as error:
+        return {"ok": False, "error": str(error), "code": error.code}
+    except Exception as error:
+        return {"ok": False, "error": str(error)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ed31a09fa95e2b66122a917d1508ce3910ec447
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/devices/world/profile.yaml
@@ -0,0 +1,28 @@
+name: world
+type: world
+intrinsics:
+  bounds: null
+  calibrated_at: null
+  method: manual
+  source: user
+  surfaces: []
+meta:
+  created_at: '2026-10-23T05:55:41.664933+00:00'
+  updated_at: '2026-10-23T05:55:41.664933+00:00'
+access:
+  source: user
+  method: unknown
+  calibrated_at: null
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: world
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - load
+    - read
+    - status
+    - unload
+    - wait
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/memos/chemlab-hood.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/memos/chemlab-hood.md
new file mode 100644
index 0000000000000000000000000000000000000000..196e2843d14ae7dca5676a11ffac7645dbdddfd3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/memos/chemlab-hood.md
@@ -0,0 +1,7 @@
+# ChemLab hood light/fan/sash
+
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` and status first. Read registered profiles and instrument feedback. Public action schemas are available through `roboenv devices --endpoint "$ROBOENV_ENDPOINT" --name instrument`.
+
+For the 0.457 m task, Kinex instrument commands: `fan_set {"on":true}`, `light_set {"on":true}`, `sash_set {"height_m":0.457,"hold":true}`. Read observations afterward: check light.on, lamp.lit, fan.on, sash.height_m, indicator.safe, indicator.unsafe, display.text and monitor.reading_m_s. Initial blower speed 0.9 produced SAFE at 0.4 m/s without monitor configuration/calibration changes. Sash response may report held:false at this height despite hold:true; verify height rather than assuming hold semantics.
+
+Require settings and safe airflow for at least one simulation second, using world.wait and repeated feedback if still running. Realtime advances between calls. The observed episode was already terminal on feedback one simulation second after sash_set, with all targets met. Do not issue further instrument commands after terminal. Use status to inspect budget/state (not judgment), then `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` for final judgment. Never reset/relaunch.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/workspace.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/workspace.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d9f590b55b7e0b2cd2b76f94c502d3dda10c7a6a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/.kinex/workspace.yaml
@@ -0,0 +1,21 @@
+identity:
+  source: user
+  id: isaaclab-chemlab-instruments
+  name: ChemLab instrument workstation
+  platform: sim
+  kind: other
+  model: No robot; instrument command interface
+sim:
+  source: user
+  simulator: isaaclab
+  notes: Use read for sensor observations and declared instrument commands for operations.
+    World wait advances all instruments. No owner state, reset, or evaluator commands
+    are public.
+devices:
+  source: user
+safety:
+  source: user
+  notes: Follow instruction.md for task-specific limits.
+meta:
+  created_at: '2026-10-02T07:16:00Z'
+  updated_at: '2026-10-02T07:16:00Z'
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/instruction.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/instruction.md
new file mode 100644
index 0000000000000000000000000000000000000000..ddf32649ee53f99d235d954566feb39b1fe09b47
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/01-hood-light-sash/workspace/instruction.md
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-hood-light-sash
+
+Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/effective-model.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/effective-model.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd5f31d814b342867be5dfab7a35cdcd306a730
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/effective-model.json
@@ -0,0 +1,392 @@
+{
+  "kinex_identity": "feb75f7c3c2c08976c25f274402da6d40cf83a6ed4c0ac38ddebec3cb8046ded",
+  "kinex_version": "1.0.0",
+  "kinex_source": {
+    "content_sha256": "f8fdd75011d20dfc12347cc27a17afc39764156a493627e65927d560b4226b04",
+    "files": {
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+      "THIRD_PARTY_NOTICES.txt": "2944e27dd41e38a2199e1f8c49f160441ff175da9920d7449641395d609eaad1",
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+      "assets/architecture.svg": "811cf19761e03c094d86acafdda31eb0739969ca5f1a84ba995d029897addff5",
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+}
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/instruction.txt b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/instruction.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebac1bb63a7cc1a9cd4356845586e5d92cc824cd
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/instruction.txt
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-water-activity-temperature
+
+Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/kinex.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/kinex.log
new file mode 100644
index 0000000000000000000000000000000000000000..77787d7676ab1ddbc87bdaa0803a0e5c1db5ddb9
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/kinex.log
@@ -0,0 +1 @@
+Success: the meter was powered on and met 303.15 ±0.5 K for one simulation second. Final simulator judgment confirmed success.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/provider-requests.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/provider-requests.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d4b70553336d3e39f38f4565506e2cc87539179
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/provider-requests.jsonl
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/session-export.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/session-export.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc97ec3c0b8a4d2eab614df9e6ad6758eef6c4e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/session-export.json
@@ -0,0 +1 @@
+{"complete": true, "trace": "trace.json", "native": "session.jsonl", "provider_audit": "provider-requests.jsonl"}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/session.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/session.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..147f50dc67dbfd4c6213a95ff347e5d1b1f5571b
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/session.jsonl
@@ -0,0 +1,46 @@
+{"type":"session","version":3,"id":"01a16757-54d7-75ae-a18b-6e7b0b15f70b","timestamp":"2026-10-23T05:58:59.032Z","cwd":"/workspace"}
+{"type":"model_change","id":"7e9b8e27","parentId":null,"timestamp":"2026-10-23T05:58:59.581Z","provider":"openai-codex","modelId":"gpt-6-astra"}
+{"type":"thinking_level_change","id":"ebfc37a2","parentId":"7e9b8e27","timestamp":"2026-10-23T05:58:59.581Z","thinkingLevel":"high"}
+{"type":"message","id":"401a7603","parentId":"ebfc37a2","timestamp":"2026-10-23T05:58:59.718Z","message":{"role":"system","content":"","sections":{"preamble":"You are an expert coding assistant operating inside pi, a coding agent harness. You help users by reading files, executing commands, editing code, and writing new files.","tools":"<tools>\n- read: Read file contents\n- write: Create or overwrite files\n- edit: Make precise file edits with exact text replacement, including multiple disjoint edits in one call\n- bash: Execute bash commands (ls, grep, find, etc.)\n- grep: Search file contents for patterns (respects .gitignore)\n- find: Find files by glob pattern (respects .gitignore)\n- ls: List directory contents\n\nIn addition to the tools above, you may have access to other custom tools depending on the project.\n</tools>","rules":"<rules>\n- Use read to examine files instead of cat or sed.\n- Use write only for new files or complete rewrites.\n- Use edit for precise changes (edits[].oldText must match exactly)\n- When changing multiple separate locations in one file, use one edit call with multiple entries in edits[] instead of multiple edit calls\n- Each edits[].oldText is matched against the original file, not after earlier edits are applied. 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Cached readings retain it; compare timestamps only within the same clock.\nActuator writes submit a buffer with duration_s and return {execution_id, state}: an opaque submission ID and measured state, not completion. New writes replace pending references; stop clears affected buffers. Use world.wait to pace execution.\nSpecial devices like legged bases use mode as their single state/mode selector. control.device_modes declares the available modes and transitions. control.write and the custom Use guide declare supported fields, units and frames. Omit motion fields for state-only transitions; verify measured state readiness before motion.\nkinex.devices runs calls concurrently and preserves result order, without guaranteeing simultaneous sampling or atomic effects. Never retry uncertain writes.\n</device_conventions>\n\n\n# Task-scoped setup\n\nOnboarding prepares an embodiment through an agent-authored DAG. 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Optionally include URLs to analyze alongside search results.","parameters":{"type":"object","required":["query"],"properties":{"query":{"type":"string","description":"The search query or question to answer"},"urls":{"type":"array","items":{"type":"string"},"description":"Additional URLs to analyze along with search (up to 20)","maxItems":20}}}},{"name":"kinex_skill","description":"Load a Kinex skill from any enabled feature package, using the current skill catalog.","parameters":{"type":"object","required":["name"],"properties":{"name":{"type":"string"}}}},{"name":"calib_compute","description":"Run supported offline calibration/introspection using archived evidence. No device\nmotion or profile writes. Use an existing run ID, a plan node, or a procedure name\nwith concrete device-role bindings. First use creates an isolated attempt. Use the\nprocedure descriptor returned by setup_plan full:true for roles and computations.\nCustom procedure code runs through existing host tools, not this offline registry.\n\nResults distinguish computation, quality and exact resolved fields.\nValid computed results that miss accuracy targets may still be accepted within\nthe user's accuracy/time budget. Do not repeat calibration solely to meet those\ntargets when the user accepts the result. Preserve measured errors and the original\nquality assessment; never treat missing or invalid results as approximate estimates.\nApply accepted proposedChanges with core profile_write, preserving unrelated facts.\nProposed patches never clear calibration requests automatically. A pivot solve\nmeasures translation only; RGB-D color calibration does not measure depth facts.\nURDF introspection is offline and does not require activation. Base verification\nuses explicit measured checks and tolerances, without controller tuning.\n\nArchive manual/factory facts or external solver results as evidence for setup_plan\nrecord. Reuse valid evidence and stop as soon as the current task is supported.\n\nBase measurement files contain required_checks:[name,...] and checks:[{name,\nexpected,measured,reference,...}]. reference names the archived source or independent\nmeasurement. Numerical expected/measured values need explicit tolerance and units.\nOther assertions compare exact values. Optional timestamps must contain at least\ntwo distinct increasing sample times. Only required_checks determine coverage;\nmissing checks fail quality. Do not claim untested axes or operating conditions.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","oneOf":[{"type":"object","properties":{"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"interpreter":{"type":"string"},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":600},"operation":{"type":"string","const":"urdf-introspect"}},"required":["operation"],"additionalProperties":false},{"type":"object","properties":{"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"interpreter":{"type":"string"},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":600},"operation":{"type":"string","const":"fit-mount"},"points":{"type":"string","minLength":1,"description":"Input 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absolute"}},"board":{"default":"charuco","type":"string","enum":["charuco","checkerboard"]},"square_mm":{"type":"number","exclusiveMinimum":0},"marker_mm":{"type":"number","exclusiveMinimum":0},"squares_x":{"default":7,"type":"integer","minimum":2,"maximum":9007199254740991},"squares_y":{"default":5,"type":"integer","minimum":2,"maximum":9007199254740991},"corners_x":{"default":9,"type":"integer","minimum":2,"maximum":9007199254740991},"corners_y":{"default":6,"type":"integer","minimum":2,"maximum":9007199254740991},"dictionary":{"default":"DICT_4X4_50","type":"string"}},"required":["operation","images","square_mm"],"additionalProperties":false},{"type":"object","properties":{"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"interpreter":{"type":"string"},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":600},"operation":{"type":"string","const":"verify-base"},"measurements":{"type":"string","minLength":1,"description":"Input file path, relative to invocation directory or absolute"}},"required":["operation","measurements"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"calib_sample","description":"Read one sample into an isolated .kinex/calib/<run>/samples.json. Start with a plan\nnode or procedure plus bindings; subsequent samples use the returned run ID. The\ndevice must be one of the bound participants. Inputs and participants cannot change\nwithin an attempt. Returns the new sample, run ID and count; camera attachments are\ncopied into immutable attempt artifacts, including both RGB and depth files for\nRGBD readings. Both copies must succeed before a sample is appended.\nUse note to identify the collection step. Samples\ncontain measured state and timestamps; this tool cannot command or load devices.\n\nOptional settle waits for the declared measured velocity channels to remain below\nthe threshold over distinct samples. Unsupported/malformed feedback and faults are\nerrors. Cached readings do not establish stability. A timeout after a reading saves\nthat reading with settled:false; cancellation saves nothing. Without settle, the\nsample makes no claim of stationary motion. Settling supports joint devices,\ndexterous hands and velocity devices with declared measured velocity channels.\nThis blocking sampler does not advance simulator time; arrange world waits\noutside the sampler when collecting simulation evidence.\n\nFor joint devices, optional frame computes FK from that exact sample and stores\nkinematics with pose, frame and reference_frame:null alongside the measured data.\nUse it for TCP calibration; joint-device reads contain no frame poses. FK and\nartifact capture still run after a settle timeout, subject to caller cancellation.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","description":"device to sample, e.g. arm"},"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"args":{"description":"arguments for the driver action","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"frame":{"description":"joint-device frame to compute through FK from this sample","type":"string","minLength":1},"settle":{"description":"wait for the device to stop moving before recording; omit to record immediately","type":"object","properties":{"velocity_threshold":{"default":0.005,"description":"max |joint velocity| that counts as settled","type":"number","minimum":0},"stable_reads":{"default":3,"description":"consecutive settled reads required","type":"integer","exclusiveMinimum":0,"maximum":9007199254740991},"timeout_s":{"default":30,"type":"number","exclusiveMinimum":0}}},"note":{"description":"label stored with the sample, e.g. 'touch 3, rolled +45deg'","type":"string"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device","description":"Call a named device with action (default read) and args. Its profile declares operations, units and parameters. Prefer servo for arm goals and run_policy for synchronized action chunks. Servo waits its planned duration by default. Set block=false to return immediately. Verify arrival with measured feedback.\nLoad an inactive device before use. load/unload accept no arguments; status inspects readiness without starting services. Calls enforce device permissions. Python tools cannot load or unload devices.\nResults contain data and/or a file path. Camera reads accept output=\"file\", \"base64\", or \"array\". Direct reads default to base64 and attach the RGB image with camera identity and timestamp in every mode; no file-opening call is needed. Inside Python tools, reads default to arrays; base64 returns encoded images and file returns saved paths. Resolve named device:frame references with relative_pose. World read returns time_s and optional budget {used_s,max_s}: episode time consumed and allowed in seconds, with max_s null for no cap. Budget is driver-reported information, not enforced by Kinex. world.wait(duration_s) waits on the driver clock and returns time_s and waited_s for that wait, without a budget. Actuator writes take duration_s and return immediately; use world.wait to pace control.\nverbose defaults to true; false omits empty optional feedback while preserving faults, timestamps and unknown fields. compact selects single-line JSON.\n\nPython: device(deviceID, action=\"read\", args=None) returns data fields directly, plus file when present. Use devices for concurrent calls.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"compact":{"default":false,"description":"single-line JSON output — use in polling/sampling loops","type":"boolean"},"verbose":{"default":true,"description":"keep all result fields; false omits empty optional feedback","type":"boolean"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device_stop","description":"Stop the named device, or all loaded actuators when deviceID is omitted. Stops use\neach driver's declared behavior and affected-device scope. No approval is required.\nResults report each device's acknowledgment or failure; inspect failures before resuming.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"description":"device to stop; omit to stop every loaded actuated device","type":"string"},"reason":{"description":"why the stop was triggered","type":"string"}},"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"devices","description":"Call devices concurrently with calls: [{deviceID, action?, args?}]; action defaults\nto read. Returns {results: [...]} in input order, with deviceID, action, ok and\ndata/file or error per entry. Python devices(calls) uses the same structure.\nCamera modes match device; attached images follow call order. Permissions are\nchecked before dispatch. Sampling is not simultaneous and effects are not atomic.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"calls":{"minItems":1,"type":"array","items":{"type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}}},"required":["deviceID"],"additionalProperties":false}}},"required":["calls"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"exec","description":"Run ordinary Python source or a script file with Kinex runtime access. Import device, devices, call, profile, robot, or Device from kinex. call(\"servo\", device=\"arm\", joints=target) and call(\"servo\", **params) take keyword arguments, not a positional dictionary; device(\"world\", \"wait\", {\"duration_s\": duration}) takes an argument dictionary. call composes Python tools or device/devices, not host tools. print() goes to output; finish(value, file=path_or_paths) returns JSON with one or more images in order.\n\nWhen the next decision needs images, control, wait as needed, read measured feedback, and capture selected cameras with output=\"file\" in the same script; return their paths through finish. Blocking servo already waits its planned duration; verify arrival instead of waiting it again. Printing paths does not attach images.\n\nUse bounded Python loops for feedback control, checking faults and missing feedback; call stop_owned() when ending a loop that must stop motion. Return images to the model when further control requires visual interpretation. Device lifecycle changes and recording tool calls are unavailable. Failure, timeout or cancellation stops owned motion; successful completion may leave motion running.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"description":{"description":"Short lowercase description of the task, for display","type":"string"},"python":{"description":"Python source, including multiline scripts; provide exactly one of python or file","type":"string","minLength":1},"file":{"description":"Script path, relative to the working directory or absolute","type":"string","minLength":1},"args":{"default":{},"description":"Values available through kinex.args()","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"argv":{"default":[],"description":"Script command-line arguments","type":"array","items":{"type":"string"}},"interpreter":{"description":"Python executable; defaults to the managed Kinex Python environment","type":"string","minLength":1},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":2147483}},"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"locate_object_3d","description":"[perception tool, python] Locate an object in the camera optical frame (+X right, +Y down, +Z forward) using a detection or segmentation device with RGBD or explicit optical depth. Samples only inside a supplied mask; otherwise uses the central half of the box. Returns a representative point in metres, pixel, detection_score, depth_samples, and reference (visible_surface or box_region). Box estimates may include background. rotation_xyzw is null. No mount calibration is needed; convert frames with relative_pose after constructing a full local pose with an explicit orientation.\n\nDevice input camera: rgb | rgbd (checked against the selected device).\nDevice input model: detection | segmentation (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"camera":{"type":"string","description":"rgb or rgbd camera with calibrated color intrinsics"},"model":{"type":"string","description":"detection or segmentation device serving detect(image, prompt, min_score, max_results)"},"prompt":{"type":"string","minLength":1,"description":"object description, e.g. red mug"},"depth":{"type":"number","exclusiveMinimum":0,"description":"optional optical Z in metres at the representative region pixel; otherwise use the captured RGBD depth"},"min_score":{"type":"number","minimum":0,"maximum":1,"default":0.25,"description":"minimum detection score"},"instance":{"type":"integer","minimum":0,"default":0,"description":"zero-based index after filtering and sorting by descending score; ties keep model order"}},"required":["camera","model","prompt"]}},{"name":"profile_write","description":"Persist profile facts in the workspace:\n- robot: partial manifest; identity requires id, name, platform and kind initially.\n- device: partial profile; name is required, type on first write. Use setup-device and the selected guide for new devices.\n- needed: {item,note?}; queue the reason without changing existing provenance.\n\nPatches deep-merge. To switch a strict variant, supply the complete top-level section and list it in replace (e.g. [\"intrinsics\"]). Arrays replace wholesale. null removes an optional section only when listed in replace. Changing device type replaces its profile. Invalid updates are not saved.\n\nOutstanding requests persist across reads and replacements. Clear a resolved request with needs_calibration:null in its section; the store rejects clearing incomplete facts. Unknown required facts remain ???. Set source to the origin of the data; keep diagnostics in calibration evidence.\n\nNew devices use loaded:false; activation uses the device tool (action=\"load\") or /load, not profile edits. Profiles live at .kinex/devices/<name>/profile.yaml beside the driver, using the nearest .kinex/ in the current directory or its ancestors (the current directory's .kinex/ if none exists). Validation errors identify fields and the guide to consult.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"kind":{"type":"string","enum":["robot","device","needed"]},"replace":{"default":[],"description":"Supplied top-level sections to replace instead of merge; null removes optional sections","type":"array","items":{"type":"string"}},"data":{"type":"object","propertyNames":{"type":"string"},"additionalProperties":{},"description":"partial workspace manifest patch (identity required on first write) for kind=robot, partial device patch (must include name; type on first write) for kind=device, or {item, note?} for kind=needed"}},"required":["kind","data"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"relative_pose","description":"[perception tool, python] Express a frame-attached child pose in a frame-attached parent pose. Input and returned poses are [x,y,z,qx,qy,qz,qw], metres and unit quaternion xyzw; omitted input poses are identity. Returns only pose, path and estimated_links. Resolves calibrated/live frames and optional call-local estimates; never invents missing connections or persists estimates.\n\nDevice input child.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input parent.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].child: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].parent: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"parent":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"estimates":{"type":"array","description":"Temporary frame relations; paths prefer fewer estimated edges, then fewer total edges.","items":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"string","minLength":1},"parent":{"type":"string","minLength":1},"translation_m":{"type":"array","items":{"type":"number"},"minItems":3,"maxItems":3},"rotation_xyzw":{"type":"array","items":{"type":"number"},"minItems":4,"maxItems":4}},"required":["child","parent","translation_m","rotation_xyzw"]}}},"required":["child","parent"]}},{"name":"run_policy","description":"[controller tool, python] Infer once and submit the shared valid action prefix concurrently. Returns actions_submitted, duration_s, execution_ids (device to submission ID) and ik_failure. Use max_actions to cap the execution horizon for receding horizon control. IK rejection returns normally, including an empty prefix, with diagnostic ik_failure (device, zero-based action_index, error), or null. Execution is asynchronous.\n\nDevice input model: model (checked against the selected device).\nDevice input command[].device: joint | gripper | dexterous_hand | suction (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"model":{"type":"string","description":"model device serving an \"infer\" action (obs -> action)"},"observation":{"type":"object","description":"Observation object matching the model's infer obs contract."},"inference_args":{"type":"object","description":"Additional infer arguments validated by the model operation; cannot override obs or task."},"command":{"type":"array","minItems":1,"description":"Devices in flat-vector split order; named action maps use device names. Cartesian chunks are converted through IK before any write.","items":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"joint","dexterous_hand":null,"gripper or suction device":null},"space":{"type":"string","enum":["device","pose","pose_delta"],"default":"device","description":"device: existing absolute joint/scalar values. pose: xyz + quaternion xyzw (7). pose_delta: translation metres + axis-angle rotation radians (6), accumulated from the starting pose. Cartesian modes require joint IK."},"frame":{"type":"string","description":"Cartesian reference frame, frozen at planning start; defaults to the device canonical frame. Rotation deltas left-compose in these axes."},"target_frame":{"type":"string","description":"Controlled frame, rigidly attached to the arm's kinematics.frame; defaults to that frame."}},"required":["device"]}},"task":{"type":"string","description":"task or goal handed to the model, e.g. a language instruction"},"action_hz":{"type":"number","exclusiveMinimum":0,"default":10,"description":"actions replayed per second of the device's own clock"},"max_actions":{"type":"integer","minimum":1,"description":"Execution horizon: submit at most the first N inferred actions, discarding the remainder before validation and IK. Omit to use the whole chunk. Each call infers anew from the supplied observation. IK rejection may shorten this prefix further."}},"required":["model","observation","command"]}},{"name":"servo","description":"[controller tool, python] Plan and submit a full joint trajectory for a joint device or dexterous hand. Blocks by default for the computed duration on a loaded world clock. Set block=false to return immediately. Results include device, execution_id, requested/IK-resolved target joints, computed duration_s and actions_submitted. Verify arrival with measured feedback. Later writes or stop can interrupt the plan.\n\nDevice input device: joint | dexterous_hand (checked against the selected device).\nDevice input world: world (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}},"required":["device"],"oneOf":[{"type":"object","additionalProperties":false,"required":["device","joints"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}},{"type":"object","additionalProperties":false,"required":["device","pose"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}}]}},{"name":"setup_plan","description":"Inspect or maintain the agent-authored embodiment DAG. This is task-scoped planning,\nnever a gate on device operations. Read with full:true for the complete graph and\navailable procedure descriptors; the default shows only the current task's gaps.\nUse the returned revision for save/select/record; conflicting edits must be reread.\n\nSave version:1 nodes with IDs, kind prepare/calibrate/verify, skill, concrete device\nrole bindings, dependsOn IDs, input facts and expected output facts. A profile fact\nuses kind:profile, device (omit for workspace manifest), and JSON pointer; optional\nvalue requires an exact match. Use narrow profile pointers for both inputs and\noutputs, tracking only facts relevant to the node's conclusion. Keep volatile\nloaded/meta fields and live poses out of persistent calibration dependencies and\noutputs. File facts use paths relative to .kinex. Select a\ntask with objective, target node IDs and optional direct facts. Only the targets'\ndependency closure is required now; unrelated work stays deferred. task:null\ndefers all calibration. An empty targets list can describe a task requiring no\ncalibration. Skill descriptors list their exact roles, requirements and coverage.\n\nRecord done only after verifying persisted outputs and archiving supporting\nevidence files (paths relative to .kinex). Existing factory/model/calibration facts\ncan satisfy a node without new measurements. Partial results may satisfy a narrower\ntask: split broad nodes into independently useful outputs. Never mark deferred work\ndone or clear incomplete profile requests. Verification receipts describe evidence,\nnot safety certification. Revisions and stale evidence never prevent unrelated\noperations. Replan only relevant gaps and return to the task as soon as satisfied.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","oneOf":[{"type":"object","properties":{"action":{"type":"string","const":"read"},"full":{"default":false,"type":"boolean"}},"required":["action"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"save"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"plan":{"type":"object","properties":{"version":{"type":"number","const":1},"nodes":{"type":"array","items":{"type":"object","properties":{"id":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"title":{"type":"string","minLength":1},"kind":{"type":"string","enum":["prepare","calibrate","verify"]},"skill":{"type":"string","minLength":1},"bindings":{"default":{},"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"dependsOn":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"outputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"optional":{"default":false,"type":"boolean"}},"required":["id","title","kind","skill"],"additionalProperties":false}},"task":{"default":null,"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["version","nodes"],"additionalProperties":false}},"required":["action","revision","plan"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"select"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"task":{"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["action","revision","task"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"record"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"outcome":{"type":"object","properties":{"status":{"type":"string","enum":["done","partial","failed","needs-input"]},"note":{"type":"string","minLength":1},"evidence":{"minItems":1,"type":"array","items":{"type":"string","minLength":1}}},"required":["status","note","evidence"],"additionalProperties":false}},"required":["action","revision","node","outcome"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"skill","description":"Loads a skill by name and returns its full instructions. Skills are listed in the\n<available_skills> block of the current context; load one when its description matches the\ncurrent task, then follow its instructions.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"name":{"type":"string","description":"name of the skill to load"}},"required":["name"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"question","description":"Ask the user for missing facts or choices.","parameters":{"type":"object","required":["questions"],"properties":{"questions":{"type":"array","items":{"type":"object","required":["header","question","options"],"properties":{"header":{"type":"string"},"question":{"type":"string"},"options":{"type":"array","items":{"type":"object","required":["label"],"properties":{"label":{"type":"string"},"description":{"type":"string"}}}},"multiple":{"type":"boolean"}}}}}}}]}}
+{"type":"message","id":"7f22319e","parentId":"401a7603","timestamp":"2026-10-23T05:58:59.718Z","message":{"role":"user","content":[{"type":"text","text":"# Task: isaaclab/chemlab-water-activity-temperature\n\nPower on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}],"timestamp":1792735139714}}
+{"type":"custom_message","customType":"kinex-context","content":"<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-6cb591c5b4614c428ca4a77acd687b44/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>","display":false,"details":{"core.conventions":"<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>","core.guides":"Device guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-6cb591c5b4614c428ca4a77acd687b44/config/device, /opt/kinex/packages/core/assets/builtin/device.","core.python":"{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}","core.recording":"","core.skills":"<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>","problems":""},"id":"c8f2c8b3","parentId":"7f22319e","timestamp":"2026-10-23T05:58:59.719Z"}
+{"type":"message","id":"4afd7ac6","parentId":"c8f2c8b3","timestamp":"2026-10-23T05:59:02.353Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_a9a242129190445cb2bc46bcfdd6c09b|fc_05901fab93d5cefa016adaf7a59bdc819f945a0be0c71e1b02","name":"bash","arguments":{"command":"roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"","timeout":20}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":12438,"output":33,"cacheRead":0,"cacheWrite":0,"reasoning":0,"totalTokens":12471,"cost":{"input":0.12438,"output":0.00165,"cacheRead":0,"cacheWrite":0,"total":0.12603}},"stopReason":"toolUse","timestamp":1792735139735,"responseId":"resp_05901fab93d5cefa016adaf7a42830819fa71de62cbba658dc","rawStopReason":"completed","durationMs":2618,"thinkingLevel":"high"}}
+{"type":"message","id":"6c00fd7b","parentId":"4afd7ac6","timestamp":"2026-10-23T05:59:02.578Z","message":{"role":"toolResult","toolCallId":"call_a9a242129190445cb2bc46bcfdd6c09b|fc_05901fab93d5cefa016adaf7a59bdc819f945a0be0c71e1b02","toolName":"bash","content":[{"type":"text","text":"{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"a8826fa0f3808cec\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-water-activity-temperature\", \"instruction\": \"Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\", \"native_instruction\": \"\"}}\n"}],"isError":false,"durationMs":220,"timestamp":1792735142578}}
+{"type":"custom_message","customType":"kinex-context","content":"<kinex_context>\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n</kinex_context>","display":false,"details":{"core.conventions":"<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>","core.guides":"Device guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-6cb591c5b4614c428ca4a77acd687b44/config/device, /opt/kinex/packages/core/assets/builtin/device.","core.python":"{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}","core.recording":"","core.skills":"<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>","problems":""},"id":"a36c5e84","parentId":"6c00fd7b","timestamp":"2026-10-23T05:59:02.632Z"}
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\"type\": \"number\",\n          \"x-unit\": \"1\"\n        }\n      },\n      \"cycle.elapsed_s\": {\n        \"unit\": \"s\",\n        \"value_schema\": {\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"s\"\n        }\n      },\n      \"cycle.phase\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"idle\",\n            \"running\",\n            \"succeeded\",\n            \"cancelled\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"data.last_reading\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"additionalProperties\": false,\n              \"properties\": {\n                \"datetime\": {\n                  \"type\": \"string\"\n                },\n                \"model\": {\n                  \"anyOf\": [\n                    {\n                      \"type\": \"string\"\n                    },\n     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135.69999999999658, 'temperature_k': 300.62, 'power': True}\\n{'time_s': 136.8999999999965, 'temperature_k': 300.67999999999995, 'power': True}\\n{'time_s': 138.09999999999644, 'temperature_k': 300.73999999999995, 'power': True}\\n{'time_s': 139.29999999999637, 'temperature_k': 300.79999999999995, 'power': True}\\n{'time_s': 140.4999999999963, 'temperature_k': 300.85999999999996, 'power': True}\\n{'time_s': 141.69999999999624, 'temperature_k': 300.91999999999996, 'power': True}\\n{'time_s': 142.89999999999617, 'temperature_k': 300.97999999999996, 'power': True}\\n{'time_s': 144.0999999999961, 'temperature_k': 301.03, 'power': True}\\n{'time_s': 145.29999999999603, 'temperature_k': 301.09, 'power': True}\\n{'time_s': 146.49999999999596, 'temperature_k': 301.14, 'power': True}\\n{'time_s': 147.6999999999959, 'temperature_k': 301.2, 'power': True}\\n{'time_s': 148.89999999999583, 'temperature_k': 301.25, 'power': True}\\n{'time_s': 150.09999999999576, 'temperature_k': 301.29999999999995, 'power': True}\\n{'time_s': 151.2999999999957, 'temperature_k': 301.34999999999997, 'power': True}\\n{'time_s': 152.49999999999562, 'temperature_k': 301.4, 'power': True}\\n{'time_s': 153.69999999999555, 'temperature_k': 301.44, 'power': True}\\n{'time_s': 154.8999999999955, 'temperature_k': 301.48999999999995, 'power': True}\\n{'time_s': 156.09999999999542, 'temperature_k': 301.53999999999996, 'power': True}\\n{'time_s': 157.29999999999535, 'temperature_k': 301.58, 'power': True}\\n{'time_s': 158.49999999999528, 'temperature_k': 301.62, 'power': True}\\n{'time_s': 159.6999999999952, 'temperature_k': 301.66999999999996, 'power': True}\\n{'time_s': 160.89999999999515, 'temperature_k': 301.71, 'power': True}\\n{'time_s': 162.09999999999508, 'temperature_k': 301.75, 'power': True}\\n{'time_s': 163.299999999995, 'temperature_k': 301.78999999999996, 'power': True}\\n{'time_s': 164.49999999999494, 'temperature_k': 301.83, 'power': True}\\n{'time_s': 165.69999999999487, 'temperature_k': 301.85999999999996, 'power': True}\\n{'time_s': 166.8999999999948, 'temperature_k': 301.9, 'power': True}\\n{'time_s': 168.09999999999474, 'temperature_k': 301.94, 'power': True}\\n{'time_s': 169.29999999999467, 'temperature_k': 301.96999999999997, 'power': True}\\n{'time_s': 170.4999999999946, 'temperature_k': 302, 'power': True}\\n{'time_s': 171.69999999999453, 'temperature_k': 302.03999999999996, 'power': True}\\n{'time_s': 172.89999999999446, 'temperature_k': 302.07, 'power': True}\\n{'time_s': 174.0999999999944, 'temperature_k': 302.09999999999997, 'power': True}\\n{'time_s': 175.29999999999433, 'temperature_k': 302.13, 'power': True}\\n{'time_s': 176.49999999999426, 'temperature_k': 302.15999999999997, 'power': True}\\n{'time_s': 177.6999999999942, 'temperature_k': 302.19, 'power': True}\\n{'time_s': 178.89999999999412, 'temperature_k': 302.21999999999997, 'power': True}\\n{'time_s': 180.09999999999405, 'temperature_k': 302.23999999999995, 'power': True}\\n{'time_s': 181.299999999994, 'temperature_k': 302.27, 'power': True}\\n{'time_s': 182.49999999999392, 'temperature_k': 302.29999999999995, 'power': True}\\n{'time_s': 183.69999999999385, 'temperature_k': 302.32, 'power': True}\\n{'time_s': 184.89999999999378, 'temperature_k': 302.34999999999997, 'power': True}\\n{'time_s': 186.0999999999937, 'temperature_k': 302.37, 'power': True}\\n{'time_s': 187.29999999999364, 'temperature_k': 302.39, 'power': True}\\n{'time_s': 188.49999999999358, 'temperature_k': 302.41999999999996, 'power': True}\\n{'time_s': 189.6999999999935, 'temperature_k': 302.44, 'power': True}\\n{'time_s': 190.89999999999344, 'temperature_k': 302.46, 'power': True}\\n{'time_s': 192.09999999999337, 'temperature_k': 302.47999999999996, 'power': True}\\n{'time_s': 193.2999999999933, 'temperature_k': 302.5, 'power': True}\\n{'time_s': 194.49999999999324, 'temperature_k': 302.52, 'power': True}\\n{'time_s': 195.69999999999317, 'temperature_k': 302.53999999999996, 'power': True}\\n{'time_s': 196.8999999999931, 'temperature_k': 302.56, 'power': True}\\n{'time_s': 198.09999999999303, 'temperature_k': 302.58, 'power': True}\\n{'time_s': 199.29999999999296, 'temperature_k': 302.59, 'power': True}\\n{'time_s': 200.4999999999929, 'temperature_k': 302.60999999999996, 'power': True}\\n{'time_s': 201.69999999999283, 'temperature_k': 302.63, 'power': True}\\n{'time_s': 202.89999999999276, 'temperature_k': 302.64, 'power': True}\\n{'time_s': 203.9999999999927, 'temperature_k': 302.65999999999997, 'power': True}\\n\",\n  \"error\": \"driver for \\\"world\\\" failed: Episode finished; call roboenv stop for the final judgment\",\n  \"code\": \"episode_finished\"\n}"}],"details":{"kinex":{"title":"exec (Python)","isError":true}},"isError":true,"durationMs":137230,"timestamp":1792735383276}}
+{"type":"message","id":"66af7828","parentId":"3382b0fe","timestamp":"2026-10-23T06:03:07.960Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_f64393b5d51744e48ee5b76632be5462|fc_05901fab93d5cefa016adaf89afd44819f95b95f520e6a5a2e","name":"bash","arguments":{"command":"roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json","timeout":20}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":3164,"output":35,"cacheRead":24448,"cacheWrite":0,"reasoning":0,"totalTokens":27647,"cost":{"input":0.03164,"output":0.00175,"cacheRead":0.024447999999999998,"cacheWrite":0,"total":0.057838}},"stopReason":"toolUse","timestamp":1792735383308,"responseId":"resp_05901fab93d5cefa016adaf897ab84819f97bb0733f922b0da","rawStopReason":"completed","durationMs":4652,"thinkingLevel":"high"}}
+{"type":"message","id":"5a091421","parentId":"66af7828","timestamp":"2026-10-23T06:03:08.118Z","message":{"role":"toolResult","toolCallId":"call_f64393b5d51744e48ee5b76632be5462|fc_05901fab93d5cefa016adaf89afd44819f95b95f520e6a5a2e","toolName":"bash","content":[{"type":"text","text":"{\"device_service\": {\"contract\": \"roboenv/devices/1\", \"ready\": true}, \"endpoint\": \"http://127.0.0.1:8123\", \"generation\": 0, \"protocol\": \"roboenv/1\", \"session\": \"a8826fa0f3808cec\", \"supervisor\": \"ok\", \"worker\": {\"alive\": true, \"state\": \"ready\"}, \"simulation\": {\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 2040}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"schema\": \"roboenv/simulation-status/1\", \"session\": \"a8826fa0f3808cec\", \"simulation_time_s\": null, \"state\": \"terminal\", \"terminal\": true}}\n"}],"isError":false,"durationMs":157,"timestamp":1792735388118}}
+{"type":"message","id":"58cfc47d","parentId":"5a091421","timestamp":"2026-10-23T06:03:11.258Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_75ab2dde556a4796a27b60c8b7a326a0|fc_05901fab93d5cefa016adaf89ebd20819fb201e101fee503f4","name":"bash","arguments":{"command":"roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json","timeout":20}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":320,"output":35,"cacheRead":27520,"cacheWrite":0,"reasoning":0,"totalTokens":27875,"cost":{"input":0.0032,"output":0.00175,"cacheRead":0.02752,"cacheWrite":0,"total":0.03247}},"stopReason":"toolUse","timestamp":1792735388155,"responseId":"resp_05901fab93d5cefa016adaf89c7878819f8db7bc8296af3657","rawStopReason":"completed","durationMs":3103,"thinkingLevel":"high"}}
+{"type":"message","id":"666d9b4c","parentId":"58cfc47d","timestamp":"2026-10-23T06:03:14.189Z","message":{"role":"toolResult","toolCallId":"call_75ab2dde556a4796a27b60c8b7a326a0|fc_05901fab93d5cefa016adaf89ebd20819fb201e101fee503f4","toolName":"bash","content":[{"type":"text","text":"{\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 2040}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"reason\": \"success\", \"schema\": \"roboenv/simulation-status/1\", \"service_state\": \"stopped\", \"session\": \"a8826fa0f3808cec\", \"simulation_time_s\": null, \"state\": \"terminal\", \"success\": true, \"terminal\": true}\n"}],"isError":false,"durationMs":2930,"timestamp":1792735394189}}
+{"type":"message","id":"9f6e9d9a","parentId":"666d9b4c","timestamp":"2026-10-23T06:03:26.095Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_ee4aa92e384c44e5bc1915b56ed07c76|fc_05901fab93d5cefa016adaf8a4c7a0819f8ae02e2fab3335d4","name":"write","arguments":{"path":".kinex/memos/chemlab-water-activity.md","content":"# ChemLab water-activity temperature\n\n- Inspect context with `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"`; action argument schemas are available through `roboenv devices --name instrument --endpoint \"$ROBOENV_ENDPOINT\"` (profile lists actions, intrinsics lists observations).\n- Use Kinex instrument `read`, then `power_set({enabled:true})`, then `thermal_set_temperature({temperature_k:303.15})`. Allowed setpoint range in AQUALAB 4TE interface: 288.15–323.15 K.\n- Read `observations[\"power.enabled\"].value`, `thermal.indicated_temperature_k` (value and sample_time_s), and `device.fault`. Setpoint acceptance is not temperature arrival.\n- Poll with world.wait; thermal response is gradual. Observed 298.15 K to 302.66 K in about 118 simulation seconds after setting 303.15 K. No sample loading, acquisition, or full warmup-ready requirement was needed for temperature-only task.\n- Verify powered temperature within requested tolerance for requested simulated duration. Simulator may terminate automatically during the hold; `episode_finished` then requires finalization rather than another device command.\n- Always inspect `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json`, then finalize using `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json`. Status is not success feedback; stop returned success for the 303.15 ±0.5 K / 1 s task.\n"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":347,"output":348,"cacheRead":27648,"cacheWrite":0,"reasoning":0,"totalTokens":28343,"cost":{"input":0.0034700000000000004,"output":0.017400000000000002,"cacheRead":0.027648,"cacheWrite":0,"total":0.048518000000000006}},"stopReason":"toolUse","timestamp":1792735394227,"responseId":"resp_05901fab93d5cefa016adaf8a28820819f8ee0117a8898b188","rawStopReason":"completed","durationMs":11868,"thinkingLevel":"high"}}
+{"type":"message","id":"12d22396","parentId":"9f6e9d9a","timestamp":"2026-10-23T06:03:26.098Z","message":{"role":"toolResult","toolCallId":"call_ee4aa92e384c44e5bc1915b56ed07c76|fc_05901fab93d5cefa016adaf8a4c7a0819f8ae02e2fab3335d4","toolName":"write","content":[{"type":"text","text":"Successfully wrote to .kinex/memos/chemlab-water-activity.md"}],"isError":false,"durationMs":3,"timestamp":1792735406098}}
+{"type":"message","id":"06577276","parentId":"12d22396","timestamp":"2026-10-23T06:03:29.059Z","message":{"role":"assistant","content":[{"type":"text","text":"Success: the meter was powered on and met 303.15 ±0.5 K for one simulation second. Final simulator judgment confirmed success.","textSignature":"{\"v\":1,\"id\":\"msg_05901fab93d5cefa016adaf8b03384819f889bc3813d2441ba\",\"phase\":\"final_answer\"}"}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":465,"output":33,"cacheRead":27904,"cacheWrite":0,"reasoning":0,"totalTokens":28402,"cost":{"input":0.0046500000000000005,"output":0.00165,"cacheRead":0.027903999999999998,"cacheWrite":0,"total":0.034204}},"stopReason":"stop","timestamp":1792735406147,"responseId":"resp_05901fab93d5cefa016adaf8ae699c819faa742266ca42a5b0","rawStopReason":"completed","durationMs":2912,"thinkingLevel":"high"}}
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/trace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/trace.json
new file mode 100644
index 0000000000000000000000000000000000000000..e680d3a9c67aa5ea371fecd5b3b18efecff7bbb7
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/trace.json
@@ -0,0 +1 @@
+{"schema": "rlebench/kinex-trace/1", "source": "Pi native session", "usage_source": "pi-normalized", "cache_coverage": "normalized-values", "reasoning_coverage": "normalized-values", "info": {"type": "session", "version": 3, "id": "01a16757-54d7-75ae-a18b-6e7b0b15f70b", "timestamp": "2026-10-23T05:58:59.032Z", "cwd": "/workspace"}, "messages": [{"id": "401a7603", "role": "system", "timestamp": "2026-10-23T05:58:59.718Z", "parts": [{"type": "text", "text": ""}]}, {"id": "7f22319e", "role": "user", "timestamp": "2026-10-23T05:58:59.718Z", "parts": [{"type": "text", "text": "# Task: isaaclab/chemlab-water-activity-temperature\n\nPower on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}]}, {"id": "c8f2c8b3", "role": "context", "timestamp": "2026-10-23T05:58:59.719Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-6cb591c5b4614c428ca4a77acd687b44/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>"}], "context": true}, {"id": "4afd7ac6", "role": "assistant", "timestamp": "2026-10-23T05:59:02.353Z", "parts": [{"type": "tool", "callID": "call_a9a242129190445cb2bc46bcfdd6c09b|fc_05901fab93d5cefa016adaf7a59bdc819f945a0be0c71e1b02", "name": "bash", "input": {"command": "roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"", "timeout": 20}, "output": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"a8826fa0f3808cec\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-water-activity-temperature\", \"instruction\": \"Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\", \"native_instruction\": \"\"}}\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12438, "outputTokens": 33, "cachedInputTokens": 0, "cacheReportedInputTokens": 12438, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12438, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 33}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "6c00fd7b", "role": "toolResult", "timestamp": "2026-10-23T05:59:02.578Z", "parts": [{"type": "text", "text": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"a8826fa0f3808cec\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-water-activity-temperature\", \"instruction\": \"Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\", \"native_instruction\": \"\"}}\n"}]}, {"id": "a36c5e84", "role": "context", "timestamp": "2026-10-23T05:59:02.632Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n</kinex_context>"}], "context": true}, {"id": "ba892383", "role": "assistant", "timestamp": "2026-10-23T05:59:05.440Z", "parts": [{"type": "tool", "callID": "call_2fac14e6cf21401bae0c8554f44bdac7|fc_05901fab93d5cefa016adaf7a8e0b4819fb060f2f0f37b958a", "name": "ls", "input": {"path": ".kinex"}, "output": "devices/\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12669, "outputTokens": 20, "cachedInputTokens": 12288, "cacheReportedInputTokens": 12669, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12669, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 20}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "8326cbed", "role": "toolResult", "timestamp": "2026-10-23T05:59:05.450Z", "parts": [{"type": "text", "text": "devices/\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml"}]}, {"id": "9e8630d3", "role": "assistant", "timestamp": "2026-10-23T05:59:09.995Z", "parts": [{"type": "tool", "callID": "call_1b75000ca39048fc97c9d5cf85be1ee7|fc_05901fab93d5cefa016adaf7ab5e78819fb36c887de030887b", "name": "read", "input": {"path": ".kinex/devices/instrument/profile.yaml", "offset": null, "limit": null}, "output": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T05:58:57.586235+00:00'\n  updated_at: '2026-10-23T05:58:57.586235+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - acquisition_start\n    - acquisition_stop\n    - beeper_silence\n    - calibration_configure\n    - calibration_verify\n    - clock_set_date\n    - clock_set_time\n    - data_delete_all\n    - data_save\n    - isotherm_configure\n    - isotherm_copy\n    - isotherm_delete\n    - isotherm_select\n    - isotherm_set_offset\n    - latch_set_angle\n    - lid_set_angle\n    - load\n    - method_configure\n    - operation_cancel\n    - operation_poll\n    - panel_capture\n    - panel_press\n    - panel_switch\n    - power_set\n    - read\n    - settings_configure\n    - status\n    - thermal_set_temperature\n    - unload\n    - users_add\n    - users_delete\n    - users_login\n    - users_logout\n    - users_set_access\n    - users_set_admin_password\n    - users_set_password\n    - water_activity_measure\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_545b67ae8db54feab4c8c0fcb54406bb|fc_05901fab93d5cefa016adaf7addc74819f9b84aefa0afc8cf3", "name": "ls", "input": {"path": ".kinex/memos"}, "output": "(empty directory)", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_7660faf15e1046f3917681eff3d2a94e|fc_05901fab93d5cefa016adaf7addc74819f93c6d7b13dece377", "name": "ls", "input": {"path": ".kinex/tools"}, "output": "(empty directory)", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_ff94824b501a4bbcbe3b0d3a36fa2973|fc_05901fab93d5cefa016adaf7addc74819f9bdd09782293d269", "name": "read", "input": {"path": ".kinex/workspace.yaml", "offset": null, "limit": null}, "output": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12713, "outputTokens": 110, "cachedInputTokens": 12544, "cacheReportedInputTokens": 12713, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12713, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 110}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "b5ba65db", "role": "toolResult", "timestamp": "2026-10-23T05:59:10.004Z", "parts": [{"type": "text", "text": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T05:58:57.586235+00:00'\n  updated_at: '2026-10-23T05:58:57.586235+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - acquisition_start\n    - acquisition_stop\n    - beeper_silence\n    - calibration_configure\n    - calibration_verify\n    - clock_set_date\n    - clock_set_time\n    - data_delete_all\n    - data_save\n    - isotherm_configure\n    - isotherm_copy\n    - isotherm_delete\n    - isotherm_select\n    - isotherm_set_offset\n    - latch_set_angle\n    - lid_set_angle\n    - load\n    - method_configure\n    - operation_cancel\n    - operation_poll\n    - panel_capture\n    - panel_press\n    - panel_switch\n    - power_set\n    - read\n    - settings_configure\n    - status\n    - thermal_set_temperature\n    - unload\n    - users_add\n    - users_delete\n    - users_login\n    - users_logout\n    - users_set_access\n    - users_set_admin_password\n    - users_set_password\n    - water_activity_measure\n"}]}, {"id": "62859198", "role": "toolResult", "timestamp": "2026-10-23T05:59:10.004Z", "parts": [{"type": "text", "text": "(empty directory)"}]}, {"id": "a7be8374", "role": "toolResult", "timestamp": "2026-10-23T05:59:10.004Z", "parts": [{"type": "text", "text": "(empty directory)"}]}, {"id": "b75197e6", "role": "toolResult", "timestamp": "2026-10-23T05:59:10.004Z", "parts": [{"type": "text", "text": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n"}]}, {"id": "dd5af0da", "role": "assistant", "timestamp": "2026-10-23T05:59:12.162Z", "parts": [{"type": "tool", "callID": "call_f75587b154d54eab987990dcb7848ddc|fc_05901fab93d5cefa016adaf7afe6d8819fba32554218e86a38", "name": "ls", "input": {"path": ".kinex/devices/instrument"}, "output": "connection.json\ndriver.py\nintrinsics.json\nprofile.yaml", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13430, "outputTokens": 24, "cachedInputTokens": 12544, "cacheReportedInputTokens": 13430, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13430, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 24}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "4fa7a8fe", "role": "toolResult", "timestamp": "2026-10-23T05:59:12.166Z", "parts": [{"type": "text", "text": "connection.json\ndriver.py\nintrinsics.json\nprofile.yaml"}]}, {"id": "74b39208", "role": "assistant", "timestamp": "2026-10-23T05:59:15.451Z", "parts": [{"type": "tool", "callID": "call_9a6db77c6cf94df888a4a2fa785341cb|fc_05901fab93d5cefa016adaf7b29890819fbb4f3a7daa672719", "name": "read", "input": {"path": ".kinex/devices/instrument/driver.py", "offset": null, "limit": null}, "output": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13477, "outputTokens": 34, "cachedInputTokens": 13312, "cacheReportedInputTokens": 13477, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13477, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 34}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "dd84735a", "role": "toolResult", "timestamp": "2026-10-23T05:59:15.456Z", "parts": [{"type": "text", "text": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n"}]}, {"id": "b127198f", "role": "assistant", "timestamp": "2026-10-23T05:59:22.741Z", "parts": [{"type": "tool", "callID": "call_9b8c7c1f5e0045978b6c75d263cd3484|fc_05901fab93d5cefa016adaf7ba83b8819fbf6f31d18ef3e5c9", "name": "device", "input": {"deviceID": "instrument", "action": "read"}, "output": "{\n  \"observations\": {\n    \"beeper.on\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"calibration.offset_aw\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":0},\n    \"cycle.elapsed_s\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"s\",\"value\":0},\n    \"cycle.phase\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"idle\"},\n    \"data.last_reading\": {\"quality\":\"unavailable\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\n    \"data.records\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":[]},\n    \"device.datetime\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"2026-01-01T08:00:26\"},\n    \"device.fault\": {\"quality\":\"unavailable\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\n    \"device.settings\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"autosave\":true,\"beeps\":\"four\",\"date_format\":\"mm/dd/yy\",\"language\":\"English\",\"print_mode\":\"off\",\"temperature_unit\":\"C\",\"time_format\":\"12h\"}},\n    \"dewpoint.indicated_k\": {\"quality\":\"unavailable\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"K\",\"value\":null},\n    \"equilibrium.stable\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"isotherm.configured\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"isotherm.models\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":[]},\n    \"isotherm.selected\": {\"quality\":\"unavailable\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\n    \"latch.angle_rad\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"rad\",\"value\":0},\n    \"lid.angle_rad\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"rad\",\"value\":0},\n    \"method.mode\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"single\"},\n    \"power.enabled\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"sample.loaded\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"serial.output\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":[]},\n    \"thermal.indicated_temperature_k\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"K\",\"value\":298.15},\n    \"thermal.target_k\": {\"quality\":\"valid\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"K\",\"value\":298.15},\n    \"users.state\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"admin_set\":false,\"current\":null,\"users\":[]}},\n    \"warmup.elapsed_s\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"s\",\"value\":0},\n    \"warmup.ready\": {\"quality\":\"estimated\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"water_activity.indicated\": {\"quality\":\"unavailable\",\"sample_time_s\":25.700000000000095,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null}\n  },\n  \"timestamp\": 25.700000000000003\n}", 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         \"minimum\": 200,\n              \"type\": \"number\",\n              \"x-unit\": \"K\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"equilibrium.stable\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"isotherm.configured\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"isotherm.models\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"additionalProperties\": false,\n            \"properties\": {\n              \"matrix_id\": {\n                \"type\": \"string\"\n              },\n              \"name\": {\n                \"type\": \"string\"\n              },\n              \"offset_dry_basis\": {\n                \"maximum\": 1,\n                \"minimum\": -1,\n                \"type\": \"number\",\n                \"x-unit\": \"1\"\n              },\n              \"temperature_k\": {\n                \"maximum\": 323.15,\n                \"minimum\": 288.15,\n                \"type\": \"number\",\n                \"x-unit\": \"K\"\n              }\n            },\n            \"required\": [\n              \"name\",\n              \"matrix_id\",\n              \"temperature_k\",\n              \"offset_dry_basis\"\n            ],\n            \"type\": \"object\"\n          },\n          \"maxItems\": 64,\n          \"type\": \"array\"\n        }\n      },\n      \"isotherm.selected\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"maxLength\": 20,\n              \"minLength\": 1,\n              \"type\": \"string\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"latch.angle_rad\": {\n        \"unit\": \"rad\",\n        \"value_schema\": {\n          \"maximum\": 1.5707963267948966,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"rad\"\n        }\n      },\n      \"lid.angle_rad\": {\n        \"unit\": \"rad\",\n        \"value_schema\": {\n          \"maximum\": 1.5707963267948966,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"rad\"\n        }\n      },\n      \"method.mode\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"single\",\n            \"continuous\",\n            \"custom\",\n            \"low_emitting\",\n            \"iso18787\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"power.enabled\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"sample.loaded\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"serial.output\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"string\"\n          },\n          \"maxItems\": 50,\n          \"type\": \"array\"\n        }\n      },\n      \"thermal.indicated_temperature_k\": {\n        \"unit\": \"K\",\n        \"value_schema\": {\n          \"maximum\": 323.15,\n          \"minimum\": 288.15,\n          \"type\": \"number\",\n          \"x-unit\": \"K\"\n        }\n      },\n      \"thermal.target_k\": {\n        \"unit\": \"K\",\n        \"value_schema\": {\n          \"maximum\": 323.15,\n          \"minimum\": 288.15,\n          \"type\": \"number\",\n          \"x-unit\": \"K\"\n        }\n      },\n      \"users.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"admin_set\": {\n              \"type\": \"boolean\"\n            },\n            \"current\": {\n              \"anyOf\": [\n                {\n                  \"type\": \"string\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"users\": {\n              \"items\": {\n                \"additionalProperties\": false,\n                \"properties\": {\n                  \"access\": {\n                    \"additionalProperties\": false,\n                    \"properties\": {\n                      \"autosave\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"beeps\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"calibration\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"date_time\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"delete\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"mode\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"password\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"region\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"sensor\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"temp_eq\": {\n                        \"type\": \"boolean\"\n                      },\n                      \"temperature\": {\n                        \"type\": \"boolean\"\n                      }\n                    },\n                    \"required\": [\n                      \"calibration\",\n                      \"temperature\",\n                      \"temp_eq\",\n                      \"sensor\",\n                      \"mode\",\n                      \"date_time\",\n                      \"region\",\n                      \"password\",\n                      \"autosave\",\n                      \"beeps\",\n                      \"delete\"\n                    ],\n                    \"type\": \"object\"\n                  },\n                  \"name\": {\n                    \"type\": \"string\"\n                  }\n                },\n                \"required\": [\n                  \"name\",\n                  \"access\"\n                ],\n                \"type\": \"object\"\n              },\n              \"maxItems\": 20,\n              \"type\": \"array\"\n            }\n          },\n          \"required\": [\n            \"admin_set\",\n            \"current\",\n            \"users\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"warmup.elapsed_s\": {\n        \"unit\": \"s\",\n        \"value_schema\": {\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"s\"\n        }\n      },\n      \"warmup.ready\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"water_activity.indicated\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"maximum\": 1.0,\n              \"minimum\": 0.03,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      }\n    }\n  },\n  \"source\": \"user\"\n}\n"}]}, {"id": "0ecdad10", "role": "assistant", "timestamp": "2026-10-23T05:59:48.464Z", "parts": [{"type": "tool", "callID": "call_9f0ec8caf0cd406984b9f0b504985d2d|fc_05901fab93d5cefa016adaf7d40190819f90ef1ad806ec58e2", "name": "read", "input": {"path": ".kinex/devices/instrument/connection.json", "offset": null, "limit": 200}, "output": "{\"endpoint\": \"http://sim:8123\", \"session\": \"a8826fa0f3808cec\", \"generation\": 0}\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 17917, "outputTokens": 34, "cachedInputTokens": 14720, "cacheReportedInputTokens": 17917, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 17917, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 34}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "01fb58b8", "role": "toolResult", "timestamp": "2026-10-23T05:59:48.469Z", "parts": [{"type": "text", "text": "{\"endpoint\": \"http://sim:8123\", \"session\": \"a8826fa0f3808cec\", \"generation\": 0}\n"}]}, {"id": "621f38d1", "role": "assistant", "timestamp": "2026-10-23T06:00:01.702Z", "parts": [{"type": "reasoning", "text": ""}, {"type": "tool", "callID": "call_8135e745d087482cb301d82aaf4985ea|fc_05901fab93d5cefa016adaf7e140e8819fb47f5fd43bdb19e2", "name": "bash", "input": {"command": "roboenv --help && roboenv describe --help", "timeout": 20}, "output": "usage: roboenv [-h]\n               {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n               ...\n\nAgent-neutral command line for the environment contract.\n\npositional arguments:\n  {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n    doctor              Explain simulator readiness and next steps\n    launch              Start a task and wait for its devices\n    prepare             Install or reuse one isolated simulator environment\n    setup               Export a robot into the current workspace's .kinex\n                        directory\n    status              Inspect a running environment\n    stop                Finalize a selected simulation or stop a locally owned\n                        environment\n    robots              Browse available robot/device configurations\n\noptions:\n  -h, --help            show this help message and exit\nusage: roboenv describe [-h] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 17992, "outputTokens": 46, "cachedInputTokens": 17792, "cacheReportedInputTokens": 17992, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 17992, "reasoningOutputTokens": 12, "reasoningReportedOutputTokens": 46}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "a7faf910", "role": "toolResult", "timestamp": "2026-10-23T06:00:01.848Z", "parts": [{"type": "text", "text": "usage: roboenv [-h]\n               {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n               ...\n\nAgent-neutral command line for the environment contract.\n\npositional arguments:\n  {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n    doctor              Explain simulator readiness and next steps\n    launch              Start a task and wait for its devices\n    prepare             Install or reuse one isolated simulator environment\n    setup               Export a robot into the current workspace's .kinex\n                        directory\n    status              Inspect a running environment\n    stop                Finalize a selected simulation or stop a locally owned\n                        environment\n    robots              Browse available robot/device configurations\n\noptions:\n  -h, --help            show this help message and exit\nusage: roboenv describe [-h] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n"}]}, {"id": "d2ba9705", "role": "assistant", "timestamp": "2026-10-23T06:00:11.808Z", "parts": [{"type": "tool", "callID": "call_9de3f34c32d74fa8a8baedfa32a9d0d2|fc_05901fab93d5cefa016adaf7eb4118819fac3bdbb1b118c556", "name": "bash", "input": {"command": "roboenv devices --help && roboenv device --help", "timeout": 20}, "output": "usage: roboenv devices [-h] [--name NAME] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --name NAME          Describe one device\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\nusage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 18308, "outputTokens": 33, "cachedInputTokens": 17792, "cacheReportedInputTokens": 18308, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 18308, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 33}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "c2d6efa5", "role": "toolResult", "timestamp": "2026-10-23T06:00:11.953Z", "parts": [{"type": "text", "text": "usage: roboenv devices [-h] [--name NAME] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --name NAME          Describe one device\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\nusage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\n"}]}, {"id": "5cf004ff", "role": "assistant", "timestamp": "2026-10-23T06:00:20.094Z", "parts": [{"type": "tool", "callID": "call_699500a8199d4458a8e5c7b9dca66572|fc_05901fab93d5cefa016adaf7f3a594819f9c98352e5b41115c", "name": "bash", "input": {"command": "roboenv devices --name instrument --endpoint \"$ROBOENV_ENDPOINT\"", "timeout": 20}, "output": "{\"actions\": {\"acquisition_start\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"acquisition.start\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"acquisition_stop\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"acquisition.stop\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"beeper_silence\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"beeper.silence\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"calibration_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"offset_aw\": {\"maximum\": 0.03, \"minimum\": -0.03, \"type\": \"number\", \"x-unit\": \"1\"}, \"source\": {\"type\": \"string\"}}, \"required\": [\"offset_aw\", \"source\"], \"title\": \"calibration.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"calibration_verify\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"reference_aw\": {\"maximum\": 1.0, \"minimum\": 0.03, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"reference_aw\"], \"title\": \"calibration.verify\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"clock_set_date\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"day\": {\"maximum\": 31, \"minimum\": 1, \"type\": \"number\", \"x-unit\": \"1\"}, \"month\": {\"maximum\": 12, \"minimum\": 1, \"type\": \"number\", \"x-unit\": \"1\"}, \"year\": {\"maximum\": 2099, \"minimum\": 2000, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"year\", \"month\", \"day\"], \"title\": \"clock.set_date\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"clock_set_time\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"hour\": {\"maximum\": 23, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, \"minute\": {\"maximum\": 59, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"hour\", \"minute\"], \"title\": \"clock.set_time\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"data_delete_all\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"data.delete_all\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"data_save\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"name\": {\"maxLength\": 20, \"type\": \"string\"}}, \"required\": [\"name\"], \"title\": \"data.save\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"isotherm_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"matrix_id\": {\"type\": \"string\"}, \"points\": {\"items\": {\"additionalProperties\": false, \"properties\": {\"moisture_dry_basis\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, \"water_activity\": {\"maximum\": 1.0, \"minimum\": 0.03, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"water_activity\", \"moisture_dry_basis\"], \"type\": \"object\"}, \"maxItems\": 128, \"minItems\": 2, \"type\": \"array\"}, \"source\": {\"type\": \"string\"}, \"temperature_k\": {\"maximum\": 323.15, \"minimum\": 288.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"matrix_id\", \"temperature_k\", \"source\", \"points\"], \"title\": \"isotherm.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"isotherm_copy\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"name\": {\"maxLength\": 20, \"minLength\": 1, \"type\": \"string\"}, \"offset_dry_basis\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}, \"source\": {\"maxLength\": 20, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"source\", \"name\", \"offset_dry_basis\"], \"title\": \"isotherm.copy\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"isotherm_delete\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"name\": {\"maxLength\": 20, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"name\"], \"title\": \"isotherm.delete\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"isotherm_select\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"name\": {\"anyOf\": [{\"maxLength\": 20, \"minLength\": 1, \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"required\": [\"name\"], \"title\": \"isotherm.select\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"isotherm_set_offset\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"name\": {\"maxLength\": 20, \"minLength\": 1, \"type\": \"string\"}, \"offset_dry_basis\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"name\", \"offset_dry_basis\"], \"title\": \"isotherm.set_offset\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"latch_set_angle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"angle_rad\": {\"maximum\": 1.5707963267948966, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"rad\"}}, \"required\": [\"angle_rad\"], \"title\": \"latch.set_angle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"lid_set_angle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"angle_rad\": {\"maximum\": 1.5707963267948966, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"rad\"}}, \"required\": [\"angle_rad\"], \"title\": \"lid.set_angle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"method_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"consecutive_readings\": {\"maximum\": 9, \"minimum\": 1, \"type\": \"number\", \"x-unit\": \"1\"}, \"mode\": {\"enum\": [\"single\", \"continuous\", \"custom\", \"low_emitting\", \"iso18787\"], \"type\": \"string\"}, \"stability_delta\": {\"maximum\": 0.02, \"minimum\": 0.0003, \"type\": \"number\", \"x-unit\": \"1\"}, \"temperature_tolerance_k\": {\"maximum\": 4.0, \"minimum\": 0.1, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"mode\", \"stability_delta\", \"temperature_tolerance_k\", \"consecutive_readings\"], \"title\": \"method.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_poll\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"lcd\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"up\", \"down\", \"left\", \"right\", \"btn1\", \"btn2\", \"btn3\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_switch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"input_id\": {\"enum\": [\"lever\", \"power\"], \"type\": \"string\"}, \"position\": {\"enum\": [\"I\", \"O\", \"OPEN\", \"READ\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"position\"], \"title\": \"panel.switch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"power_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"enabled\": {\"type\": \"boolean\"}}, \"required\": [\"enabled\"], \"title\": \"power.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"settings_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"settings\": {\"additionalProperties\": false, \"properties\": {\"autosave\": {\"type\": \"boolean\"}, \"beeps\": {\"enum\": [\"four\", \"continuous\", \"none\"], \"type\": \"string\"}, \"date_format\": {\"enum\": [\"mm/dd/yy\", \"dd/mm/yy\"], \"type\": \"string\"}, \"language\": {\"enum\": [\"English\"], \"type\": \"string\"}, \"print_mode\": {\"enum\": [\"off\", \"on\", \"detailed\"], \"type\": \"string\"}, \"temperature_unit\": {\"enum\": [\"C\", \"F\"], \"type\": \"string\"}, \"time_format\": {\"enum\": [\"12h\", 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\"object\"}, \"read_only\": false, \"supported\": true}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"instrument\", \"profile\": \"devices/instrument/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {\"calibrated_at\": null, \"method\": \"manual\", \"mount\": {\"parent\": \"world\", \"parent_frame\": \"world\", \"rotation_xyzw\": [0, 0, 0, 1], \"translation_m\": [0, 0, 0]}, \"source\": \"user\"}, \"implementation\": \"ChemLab instrument interface\", \"intrinsics\": {\"instrument\": {\"asset_id\": \"instrument.aqualab_4te\", \"catalog_id\": \"CHEM-007\", \"domain\": \"Basic Metrology & Sample Handling\", \"manufacturer\": \"AQUALAB\", \"model\": \"4TE\", \"name\": \"Water-activity meter\", \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\", \"size_m\": [0.267, 0.184, 0.129], \"state_slots\": {\"beeper.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"calibration.offset_aw\": {\"unit\": \"1\", \"value_schema\": {\"maximum\": 0.03, \"minimum\": -0.03, \"type\": \"number\", \"x-unit\": \"1\"}}, \"cycle.elapsed_s\": {\"unit\": \"s\", \"value_schema\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"cycle.phase\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"idle\", \"running\", \"succeeded\", \"cancelled\"], \"type\": \"string\"}}, \"data.last_reading\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"additionalProperties\": false, \"properties\": {\"datetime\": {\"type\": \"string\"}, \"model\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}, \"moisture_dry_basis\": {\"anyOf\": [{\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"name\": {\"maxLength\": 20, \"type\": \"string\"}, \"sensor\": {\"type\": \"string\"}, \"seq\": {\"minimum\": 1, \"type\": \"number\", \"x-unit\": \"1\"}, \"temperature_k\": {\"maximum\": 323.15, \"minimum\": 288.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"test_time_s\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"s\"}, \"user\": {\"type\": \"string\"}, \"water_activity\": {\"anyOf\": [{\"maximum\": 1.0, \"minimum\": 0.03, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"required\": [\"seq\", \"name\", \"water_activity\", \"temperature_k\", \"test_time_s\", \"user\", \"datetime\", \"sensor\", \"moisture_dry_basis\", \"model\"], \"type\": \"object\"}, {\"type\": \"null\"}]}}, \"data.records\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"additionalProperties\": false, \"properties\": {\"datetime\": {\"type\": \"string\"}, \"model\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}, \"moisture_dry_basis\": {\"anyOf\": [{\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"name\": {\"maxLength\": 20, \"type\": \"string\"}, \"sensor\": {\"type\": \"string\"}, \"seq\": {\"minimum\": 1, \"type\": \"number\", \"x-unit\": \"1\"}, \"temperature_k\": {\"maximum\": 323.15, \"minimum\": 288.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"test_time_s\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"s\"}, \"user\": {\"type\": \"string\"}, \"water_activity\": {\"anyOf\": [{\"maximum\": 1.0, \"minimum\": 0.03, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"required\": [\"seq\", \"name\", \"water_activity\", \"temperature_k\", \"test_time_s\", \"user\", \"datetime\", \"sensor\", \"moisture_dry_basis\", \"model\"], \"type\": \"object\"}, \"maxItems\": 8000, \"type\": \"array\"}}, \"device.datetime\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"string\"}}, \"device.fault\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"enum\": [\"dew_point_sensor\", \"crystal\", \"contaminated_mirror\", \"firmware\"], \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"device.settings\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"autosave\": {\"type\": \"boolean\"}, \"beeps\": {\"enum\": [\"four\", \"continuous\", \"none\"], \"type\": \"string\"}, \"date_format\": {\"enum\": [\"mm/dd/yy\", \"dd/mm/yy\"], \"type\": \"string\"}, \"language\": {\"enum\": [\"English\"], \"type\": \"string\"}, \"print_mode\": {\"enum\": [\"off\", \"on\", \"detailed\"], \"type\": \"string\"}, \"temperature_unit\": {\"enum\": [\"C\", \"F\"], \"type\": \"string\"}, \"time_format\": {\"enum\": [\"12h\", \"24h\"], \"type\": \"string\"}}, \"required\": [], \"type\": \"object\"}}, \"dewpoint.indicated_k\": {\"unit\": \"K\", \"value_schema\": {\"anyOf\": [{\"maximum\": 323.15, \"minimum\": 200, \"type\": \"number\", \"x-unit\": \"K\"}, {\"type\": \"null\"}]}}, \"equilibrium.stable\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"isotherm.configured\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"isotherm.models\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"additionalProperties\": false, \"properties\": {\"matrix_id\": {\"type\": \"string\"}, \"name\": {\"type\": \"string\"}, \"offset_dry_basis\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}, \"temperature_k\": {\"maximum\": 323.15, \"minimum\": 288.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"name\", \"matrix_id\", \"temperature_k\", \"offset_dry_basis\"], \"type\": \"object\"}, \"maxItems\": 64, \"type\": \"array\"}}, \"isotherm.selected\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maxLength\": 20, \"minLength\": 1, \"type\": \"string\"}, {\"type\": \"null\"}]}}, \"latch.angle_rad\": {\"unit\": \"rad\", \"value_schema\": {\"maximum\": 1.5707963267948966, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"rad\"}}, \"lid.angle_rad\": {\"unit\": \"rad\", \"value_schema\": {\"maximum\": 1.5707963267948966, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"rad\"}}, \"method.mode\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"single\", \"continuous\", \"custom\", \"low_emitting\", \"iso18787\"], \"type\": \"string\"}}, \"power.enabled\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"sample.loaded\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"serial.output\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"string\"}, \"maxItems\": 50, \"type\": \"array\"}}, \"thermal.indicated_temperature_k\": {\"unit\": \"K\", \"value_schema\": {\"maximum\": 323.15, \"minimum\": 288.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"thermal.target_k\": {\"unit\": \"K\", \"value_schema\": {\"maximum\": 323.15, \"minimum\": 288.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"users.state\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"admin_set\": {\"type\": \"boolean\"}, \"current\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}, \"users\": {\"items\": {\"additionalProperties\": false, \"properties\": {\"access\": {\"additionalProperties\": false, \"properties\": {\"autosave\": {\"type\": \"boolean\"}, \"beeps\": {\"type\": \"boolean\"}, \"calibration\": {\"type\": \"boolean\"}, \"date_time\": {\"type\": \"boolean\"}, \"delete\": {\"type\": \"boolean\"}, \"mode\": {\"type\": \"boolean\"}, \"password\": {\"type\": \"boolean\"}, \"region\": {\"type\": \"boolean\"}, \"sensor\": {\"type\": \"boolean\"}, \"temp_eq\": {\"type\": \"boolean\"}, \"temperature\": {\"type\": \"boolean\"}}, \"required\": [\"calibration\", \"temperature\", \"temp_eq\", \"sensor\", \"mode\", \"date_time\", \"region\", \"password\", \"autosave\", \"beeps\", \"delete\"], \"type\": \"object\"}, \"name\": {\"type\": \"string\"}}, \"required\": [\"name\", \"access\"], \"type\": \"object\"}, \"maxItems\": 20, \"type\": \"array\"}}, \"required\": [\"admin_set\", \"current\", \"users\"], \"type\": \"object\"}}, \"warmup.elapsed_s\": {\"unit\": \"s\", \"value_schema\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"warmup.ready\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"water_activity.indicated\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maximum\": 1.0, \"minimum\": 0.03, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}\n"}]}, {"id": "3593c8f3", "role": "assistant", "timestamp": "2026-10-23T06:00:28.470Z", "parts": [{"type": "tool", "callID": "call_f6ed3703ec334d63a04d06dc26f63daa|fc_05901fab93d5cefa016adaf7fc24a4819f8771ef6f1ecb2247", "name": "device", "input": {"deviceID": "instrument", "action": "power_set", "args": {"enabled": true}}, "output": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 79.99999999999973\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-803\",\n  \"result\": {\n    \"enabled\": true\n  },\n  \"state_revision\": 801,\n  \"status\": \"succeeded\"\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 24274, "outputTokens": 29, "cachedInputTokens": 18432, "cacheReportedInputTokens": 24274, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 24274, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 29}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "e55685c7", "role": "toolResult", "timestamp": "2026-10-23T06:00:28.662Z", "parts": [{"type": "text", "text": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 79.99999999999973\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-803\",\n  \"result\": {\n    \"enabled\": true\n  },\n  \"state_revision\": 801,\n  \"status\": \"succeeded\"\n}"}]}, {"id": "cc02c7fd", "role": "assistant", "timestamp": "2026-10-23T06:00:35.768Z", "parts": [{"type": "tool", "callID": "call_64de6cb49606428dbc75ebf3fb672e62|fc_05901fab93d5cefa016adaf803703c819f88095f201c5b532c", "name": "device", "input": {"deviceID": "instrument", "action": "thermal_set_temperature", "args": {"temperature_k": 303.15}}, "output": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 86.29999999999937\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-868\",\n  \"result\": {\n    \"temperature_k\": 303.15\n  },\n  \"state_revision\": 865,\n  \"status\": \"succeeded\"\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 24423, "outputTokens": 33, "cachedInputTokens": 24192, "cacheReportedInputTokens": 24423, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 24423, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 33}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "1b882a47", "role": "toolResult", "timestamp": "2026-10-23T06:00:35.870Z", "parts": [{"type": "text", "text": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 86.29999999999937\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-868\",\n  \"result\": {\n    \"temperature_k\": 303.15\n  },\n  \"state_revision\": 865,\n  \"status\": \"succeeded\"\n}"}]}, {"id": "f6b30e6c", "role": "assistant", "timestamp": "2026-10-23T06:00:46.045Z", "parts": [{"type": "tool", "callID": "call_f35f4d7771954d9db8a9335e4a0a3235|fc_05901fab93d5cefa016adaf80a1c34819f8d7063698d7bc643", "name": "exec", "input": {"description": "verify temperature hold", "python": "from kinex import device\nstart = None\nfor i in range(120):\n    r = device('instrument', 'read')\n    o = r['observations']\n    if o['device.fault']['value'] is not None:\n        raise RuntimeError(str(o['device.fault']))\n    temp = o['thermal.indicated_temperature_k']['value']\n    t = o['thermal.indicated_temperature_k']['sample_time_s']\n    power = o['power.enabled']['value']\n    print({'time_s':t,'temperature_k':temp,'power':power})\n    if power and temp is not None and abs(temp-303.15)<=0.5:\n        if start is None: start=t\n        if t-start>=1.0:\n            break\n    else:\n        start=None\n    device('world','wait',{'duration_s':1.0})\nelse:\n    raise RuntimeError('Temperature hold not reached')", "timeout_s": 150}, "output": "{\n  \"exit_code\": 1,\n  \"output\": \"{'time_s': 94.89999999999888, 'temperature_k': 298.33, 'power': True}\\n{'time_s': 96.09999999999881, 'temperature_k': 298.37, 'power': True}\\n{'time_s': 97.29999999999875, 'temperature_k': 298.41999999999996, 'power': True}\\n{'time_s': 98.49999999999868, 'temperature_k': 298.47999999999996, 'power': True}\\n{'time_s': 99.69999999999861, 'temperature_k': 298.53, 'power': True}\\n{'time_s': 100.89999999999854, 'temperature_k': 298.59, 'power': True}\\n{'time_s': 102.09999999999847, 'temperature_k': 298.65, 'power': True}\\n{'time_s': 103.2999999999984, 'temperature_k': 298.71999999999997, 'power': True}\\n{'time_s': 104.49999999999834, 'temperature_k': 298.78, 'power': True}\\n{'time_s': 105.69999999999827, 'temperature_k': 298.84999999999997, 'power': True}\\n{'time_s': 106.8999999999982, 'temperature_k': 298.91999999999996, 'power': True}\\n{'time_s': 108.09999999999813, 'temperature_k': 298.98999999999995, 'power': True}\\n{'time_s': 109.29999999999806, 'temperature_k': 299.06, 'power': True}\\n{'time_s': 110.499999999998, 'temperature_k': 299.14, 'power': True}\\n{'time_s': 111.69999999999793, 'temperature_k': 299.21, 'power': True}\\n{'time_s': 112.89999999999786, 'temperature_k': 299.28, 'power': True}\\n{'time_s': 114.09999999999779, 'temperature_k': 299.35999999999996, 'power': True}\\n{'time_s': 115.29999999999772, 'temperature_k': 299.42999999999995, 'power': True}\\n{'time_s': 116.49999999999766, 'temperature_k': 299.5, 'power': True}\\n{'time_s': 117.69999999999759, 'temperature_k': 299.58, 'power': True}\\n{'time_s': 118.89999999999752, 'temperature_k': 299.65, 'power': True}\\n{'time_s': 120.09999999999745, 'temperature_k': 299.71999999999997, 'power': True}\\n{'time_s': 121.29999999999738, 'temperature_k': 299.79999999999995, 'power': True}\\n{'time_s': 122.49999999999731, 'temperature_k': 299.87, 'power': True}\\n{'time_s': 123.69999999999725, 'temperature_k': 299.94, 'power': True}\\n{'time_s': 124.89999999999718, 'temperature_k': 300.01, 'power': True}\\n{'time_s': 126.09999999999711, 'temperature_k': 300.08, 'power': True}\\n{'time_s': 127.29999999999704, 'temperature_k': 300.15, 'power': True}\\n{'time_s': 128.499999999997, 'temperature_k': 300.21999999999997, 'power': True}\\n{'time_s': 129.69999999999692, 'temperature_k': 300.28999999999996, 'power': True}\\n{'time_s': 130.89999999999685, 'temperature_k': 300.35999999999996, 'power': True}\\n{'time_s': 132.09999999999678, 'temperature_k': 300.42999999999995, 'power': True}\\n{'time_s': 133.29999999999671, 'temperature_k': 300.48999999999995, 'power': True}\\n{'time_s': 134.49999999999665, 'temperature_k': 300.56, 'power': True}\\n{'time_s': 135.69999999999658, 'temperature_k': 300.62, 'power': True}\\n{'time_s': 136.8999999999965, 'temperature_k': 300.67999999999995, 'power': True}\\n{'time_s': 138.09999999999644, 'temperature_k': 300.73999999999995, 'power': True}\\n{'time_s': 139.29999999999637, 'temperature_k': 300.79999999999995, 'power': True}\\n{'time_s': 140.4999999999963, 'temperature_k': 300.85999999999996, 'power': True}\\n{'time_s': 141.69999999999624, 'temperature_k': 300.91999999999996, 'power': True}\\n{'time_s': 142.89999999999617, 'temperature_k': 300.97999999999996, 'power': True}\\n{'time_s': 144.0999999999961, 'temperature_k': 301.03, 'power': True}\\n{'time_s': 145.29999999999603, 'temperature_k': 301.09, 'power': True}\\n{'time_s': 146.49999999999596, 'temperature_k': 301.14, 'power': True}\\n{'time_s': 147.6999999999959, 'temperature_k': 301.2, 'power': True}\\n{'time_s': 148.89999999999583, 'temperature_k': 301.25, 'power': True}\\n{'time_s': 150.09999999999576, 'temperature_k': 301.29999999999995, 'power': True}\\n{'time_s': 151.2999999999957, 'temperature_k': 301.34999999999997, 'power': True}\\n{'time_s': 152.49999999999562, 'temperature_k': 301.4, 'power': True}\\n{'time_s': 153.69999999999555, 'temperature_k': 301.44, 'power': True}\\n{'time_s': 154.8999999999955, 'temperature_k': 301.48999999999995, 'power': True}\\n{'time_s': 156.09999999999542, 'temperature_k': 301.53999999999996, 'power': True}\\n{'time_s': 157.29999999999535, 'temperature_k': 301.58, 'power': True}\\n{'time_s': 158.49999999999528, 'temperature_k': 301.62, 'power': True}\\n{'time_s': 159.6999999999952, 'temperature_k': 301.66999999999996, 'power': True}\\n{'time_s': 160.89999999999515, 'temperature_k': 301.71, 'power': True}\\n{'time_s': 162.09999999999508, 'temperature_k': 301.75, 'power': True}\\n{'time_s': 163.299999999995, 'temperature_k': 301.78999999999996, 'power': True}\\n{'time_s': 164.49999999999494, 'temperature_k': 301.83, 'power': True}\\n{'time_s': 165.69999999999487, 'temperature_k': 301.85999999999996, 'power': True}\\n{'time_s': 166.8999999999948, 'temperature_k': 301.9, 'power': True}\\n{'time_s': 168.09999999999474, 'temperature_k': 301.94, 'power': True}\\n{'time_s': 169.29999999999467, 'temperature_k': 301.96999999999997, 'power': True}\\n{'time_s': 170.4999999999946, 'temperature_k': 302, 'power': True}\\n{'time_s': 171.69999999999453, 'temperature_k': 302.03999999999996, 'power': True}\\n{'time_s': 172.89999999999446, 'temperature_k': 302.07, 'power': True}\\n{'time_s': 174.0999999999944, 'temperature_k': 302.09999999999997, 'power': True}\\n{'time_s': 175.29999999999433, 'temperature_k': 302.13, 'power': True}\\n{'time_s': 176.49999999999426, 'temperature_k': 302.15999999999997, 'power': True}\\n{'time_s': 177.6999999999942, 'temperature_k': 302.19, 'power': True}\\n{'time_s': 178.89999999999412, 'temperature_k': 302.21999999999997, 'power': True}\\n{'time_s': 180.09999999999405, 'temperature_k': 302.23999999999995, 'power': True}\\n{'time_s': 181.299999999994, 'temperature_k': 302.27, 'power': True}\\n{'time_s': 182.49999999999392, 'temperature_k': 302.29999999999995, 'power': True}\\n{'time_s': 183.69999999999385, 'temperature_k': 302.32, 'power': True}\\n{'time_s': 184.89999999999378, 'temperature_k': 302.34999999999997, 'power': True}\\n{'time_s': 186.0999999999937, 'temperature_k': 302.37, 'power': True}\\n{'time_s': 187.29999999999364, 'temperature_k': 302.39, 'power': True}\\n{'time_s': 188.49999999999358, 'temperature_k': 302.41999999999996, 'power': True}\\n{'time_s': 189.6999999999935, 'temperature_k': 302.44, 'power': True}\\n{'time_s': 190.89999999999344, 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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/trajectory.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43c58f3ead2f44d054d4ad219a18bc1198ceb35
--- /dev/null
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/analysis.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/analysis.json
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index 0000000000000000000000000000000000000000..49fea28a23264c5a9bb830ad7e8e68d52f1875d3
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+{
+  "slug": "02-water-activity-temperature",
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+  "title": "Chamber temperature",
+  "instruction": "Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.",
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+    "rendered": true,
+    "scene_matched": true,
+    "record_sha256": "9e36c52b5fdc998a47b44658b186af28f0f05d11916e912ac86f3a5b1d407369"
+  },
+  "analysis": {
+    "recommendation": "retain as easier reference",
+    "confidence": "single seed only",
+    "difficulty": "Public instrument-interface discovery, parameter selection and state verification; no robot manipulation.",
+    "scene_goal_alignment": "The original LCD includes static digits. Dynamic temperature is provided by the runtime readout overlay and separate readout view. The native verdict uses runtime state and the instruction explicitly allows ±0.5 K.",
+    "rsi_hypothesis": "Reusable interface discovery and state-verification routines may transfer across instruments; no adaptation or multi-seed gain was measured.",
+    "failure_mechanism": null,
+    "replay_scope": "Command replay from the original initialization, with source/assets/dependency identity and terminal-state/verdict checks. It is not per-frame physical trajectory restoration.",
+    "summary_zh": "模型开启电源并设定 303.15 K，随后轮询温度、等待升温。结束读数为 302.66 K，进入原任务规定的 ±0.5 K 容差并满足保持条件。原始 LCD 含静态数字；动态温度来自 runtime 读数叠层，详情提供独立读数录像。此任务检查温控响应与等待策略，不能据此证明真实化学过程精度。"
+  },
+  "media": {
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+    "poster": "model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/media/first.jpg",
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+    ]
+  },
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+    "summary": "model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/summary.json",
+    "definition": "model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/task.yaml",
+    "instruction": "model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/agent/instruction.txt",
+    "journal": "model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/journal/actions.jsonl",
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+}
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/final-observation.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/final-observation.json
new file mode 100644
index 0000000000000000000000000000000000000000..15187b3037a7b34366df9618f7776b61ed936241
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/final-observation.json
@@ -0,0 +1 @@
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"upstreams.lock.json#isaaclab": "6cd6e96ad329c6c4a141ca9a2177b9a5b1d70d2ca7319862cfdfdf09ca1c7bda"}, "state": {"instrument": {"beeper.on": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": false}, "calibration.offset_aw": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": 0.0}, "cycle.elapsed_s": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "s", "value": 0.0}, "cycle.phase": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": "idle"}, "data.last_reading": {"quality": "unavailable", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": null}, "data.records": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": []}, "device.datetime": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": "2026-01-01T08:03:24"}, "device.fault": {"quality": "unavailable", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": null}, "device.settings": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": {"autosave": true, "beeps": "four", "date_format": "mm/dd/yy", "language": "English", "print_mode": "off", "temperature_unit": "C", "time_format": "12h"}}, "dewpoint.indicated_k": {"quality": "unavailable", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "K", "value": null}, "equilibrium.stable": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": false}, "isotherm.configured": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": false}, "isotherm.models": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": []}, "isotherm.selected": {"quality": "unavailable", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": null}, "latch.angle_rad": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "rad", "value": 0.0}, "lid.angle_rad": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "rad", "value": 0.0}, "method.mode": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": "single"}, "power.enabled": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": true}, "sample.input_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "sample.loaded": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": false}, "sample.removed_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "sample.retained_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "serial.output": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": []}, "thermal.block_k": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "K", "value": 303.10488597420425}, "thermal.indicated_temperature_k": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "K", "value": 302.65999999999997}, "thermal.sample_k": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "K", "value": 302.65729191977016}, "thermal.target_k": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "K", "value": 303.15}, "users.state": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": {"admin_set": false, "current": null, "users": []}}, "warmup.elapsed_s": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "s", "value": 123.99999999999723}, "warmup.ready": {"quality": "estimated", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": false}, "water.ambient_in_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 2.9367315034063033e-07}, "water.ambient_out_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "water.headspace_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 2.9367315034063033e-07}, "water.input_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "water.removed_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "water.sample_kg": {"quality": "valid", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "kg", "value": 0.0}, "water_activity.indicated": {"quality": "unavailable", "sample_time_s": 203.9999999999927, "sample_window_s": null, "unit": "1", "value": null}}}, "stop_on_success": true, "submitted": true, "success_latched": true, "task": "isaaclab/chemlab-water-activity-temperature", "task_definition": {"dwell_s": 1.0, "goals": [{"instrument": "instrument", "max": 303.65, "min": 302.65, "state": "thermal.indicated_temperature_k"}], "instruments": {"instrument": {"asset": "instrument.aqualab_4te", "initialize": []}}}}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/instruction.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/instruction.json
new file mode 100644
index 0000000000000000000000000000000000000000..be4ad89230c34cd17bd31c3f69a6341be350f0ed
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/instruction.json
@@ -0,0 +1,14 @@
+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.",
+  "native_instruction": "",
+  "policy": "original_native",
+  "prompt": "# Task: isaaclab/chemlab-water-activity-temperature\n\nPower on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "prompt_template": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-water-activity-temperature\n\nPower on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "schema": "rlebench/episode-instruction/3",
+  "source": "catalog",
+  "task_id": "isaaclab/chemlab-water-activity-temperature",
+  "template": "Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second."
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/journal/actions.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/journal/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8e0aede3bc3aed4ec3bc685777f7b51a470f47f4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/journal/actions.jsonl
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+{"elapsed_s":0.020763,"journal_version":1,"phase":"error","request":{"args":{"action":"wait","args":{"duration_s":1},"device":"world"},"deadline_s":600.0,"generation":0,"op":"devices.call","protocol":"roboenv/1","request_id":"driver-07c57d19637b3ec9","session":"a8826fa0f3808cec"},"response":{"error":{"code":"episode_finished","details":{"budget":{"max":null,"unit":"action_frames","used":2040},"capabilities":{"bounded_episodes":true,"terminal_feedback":true},"effects":"none","generation":0,"schema":"roboenv/simulation-status/1","session":"a8826fa0f3808cec","simulation_time_s":null,"state":"terminal","terminal":true},"message":"Episode finished; call roboenv stop for the final judgment","retryable":false},"generation":0,"ok":false,"protocol":"roboenv/1","request_id":"driver-07c57d19637b3ec9","session":"a8826fa0f3808cec"},"time_ns":1792735383265166556,"ts":"2026-10-23T06:03:03.265137+00:00"}
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":30.0,"generation":0,"op":"simulation.status","protocol":"roboenv/1","request_id":"roboenv-ddd140579f73da50","session":"a8826fa0f3808cec"},"supervisor_pid":28,"time_ns":1792735388071621365,"ts":"2026-10-23T06:03:08.071605+00:00"}
+{"elapsed_s":0.029034,"journal_version":1,"phase":"commit","request":{"args":{},"deadline_s":30.0,"generation":0,"op":"simulation.status","protocol":"roboenv/1","request_id":"roboenv-ddd140579f73da50","session":"a8826fa0f3808cec"},"response":{"generation":0,"ok":true,"protocol":"roboenv/1","request_id":"roboenv-ddd140579f73da50","result":{"budget":{"max":null,"unit":"action_frames","used":2040},"capabilities":{"bounded_episodes":true,"terminal_feedback":true},"generation":0,"schema":"roboenv/simulation-status/1","session":"a8826fa0f3808cec","simulation_time_s":null,"state":"terminal","terminal":true},"session":"a8826fa0f3808cec"},"time_ns":1792735388100680591,"ts":"2026-10-23T06:03:08.100651+00:00"}
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"simulation.stop","protocol":"roboenv/1","request_id":"roboenv-c2c5b7eaef2c3e97","session":"a8826fa0f3808cec"},"supervisor_pid":28,"time_ns":1792735391370158806,"ts":"2026-10-23T06:03:11.370124+00:00"}
+{"elapsed_s":2.799586,"journal_version":1,"phase":"commit","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"simulation.stop","protocol":"roboenv/1","request_id":"roboenv-c2c5b7eaef2c3e97","session":"a8826fa0f3808cec"},"response":{"generation":0,"ok":true,"protocol":"roboenv/1","request_id":"roboenv-c2c5b7eaef2c3e97","result":{"budget":{"max":null,"unit":"action_frames","used":2040},"capabilities":{"bounded_episodes":true,"terminal_feedback":true},"generation":0,"reason":"success","schema":"roboenv/simulation-status/1","service_state":"stopped","session":"a8826fa0f3808cec","simulation_time_s":null,"state":"terminal","success":true,"terminal":true},"session":"a8826fa0f3808cec"},"time_ns":1792735394169720890,"ts":"2026-10-23T06:03:14.169704+00:00"}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/logs/worker.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/logs/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..7553d176e3a18b00377c5b528b7dd40f740bc547
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/logs/worker.log
@@ -0,0 +1,146 @@
+RoboEnv GPU selection: {"cuda_index": 0, "pci_bus_id": "0000:1e:00.0", "uuid": "GPU-3cc7e055-1d59-e7e3-a538-b14189f20b98", "vulkan_devices": 1, "vulkan_index": 0}
+2026-10-23 05:57:31,094 INFO isaaclab.app.app_launcher: No visualizer was selected, so running in headless mode. To launch a visualizer app, pass '--viz <names>' (for example '--viz kit').
+2026-10-23 05:57:31,095 INFO isaaclab.app.app_launcher: Using device: cuda:0
+2026-10-23 05:57:31,096 INFO isaaclab.app.app_launcher: Loading experience file: /opt/roboenv/runtime/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
+2026-10-23T05:57:31Z [Info] [carb] Logging to file: /opt/sim-env/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/IsaacLab/3.0/kit_20261023_055731.log
+2026-10-23T05:57:31Z [6ms] [Warning] [omni.ext.plugin] [ext: isaaclab_visualizers] Extensions config 'extension.toml' doesn't exist '/opt/roboenv/runtime/third_party/IsaacLab/source/isaaclab_visualizers' or '/opt/roboenv/runtime/third_party/IsaacLab/source/isaaclab_visualizers/config'
+2026-10-23 05:57:31,280 DEBUG asyncio: Using selector: EpollSelector
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792735051.321050      30 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792735051.321096      30 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+2026-10-23T05:57:31Z [689ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-23T05:57:31Z [691ms] [Warning] [omni.rtx] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-10-23T05:57:31Z [691ms] [Warning] [omni.rtx] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-10-23T05:57:31Z [691ms] [Warning] [omni.rtx] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 565.57.01     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA L40S                      | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 26b9      | 3cc7e055.. |
+|     |                                  |        |     |            | 1e        |            |
+|=============================================================================================|
+| OS: 24.04.1 LTS (Noble Numbat) ubuntu, Version: 24.04.1, Kernel: 6.8.0-124-generic
+| Processor: INTEL(R) XEON(R) GOLD 6548Y+
+| Cores: 64 | Logical Cores: 128
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 1547791 | Free Memory: 1391943
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-23T05:57:32Z [1,481ms] [Warning] [omni.rtx] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+2026-10-23T05:57:32Z [1,488ms] [Warning] [omni.rtx] ECC is enabled on physical device 0
+2026-10-23T05:57:32Z [1,491ms] [Warning] [omni.rtx] IOMMU is enabled.
+2026-10-23T05:57:34Z [2,949ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T05:57:34Z [2,949ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T05:57:34Z [3,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T05:57:34Z [3,124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T05:57:34Z [3,128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T05:57:34Z [3,128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T05:57:35Z [3,998ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'any' as 'Any'
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'bool' as 'Bool' and array 'BoolArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'bundle' as 'Bundle'
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'double' as 'Double' and array 'DoubleArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'double[2]' as 'Double2' and array 'Double2Array
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'double[3]' as 'Double3' and array 'Double3Array
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'double[4]' as 'Double4' and array 'Double4Array
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'execution' as 'Execution'
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'float' as 'Float' and array 'FloatArray
+2026-10-23 05:57:39,018 DEBUG AutoNode: Defining data type 'float[2]' as 'Float2' and array 'Float2Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'float[3]' as 'Float3' and array 'Float3Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'float[4]' as 'Float4' and array 'Float4Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'frame[4]' as 'Frame' and array 'FrameArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'half' as 'Half' and array 'HalfArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'half[2]' as 'Half2' and array 'Half2Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'half[3]' as 'Half3' and array 'Half3Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'half[4]' as 'Half4' and array 'Half4Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'int' as 'Int' and array 'IntArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'int[2]' as 'Int2' and array 'Int2Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'int[3]' as 'Int3' and array 'Int3Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'int[4]' as 'Int4' and array 'Int4Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'int64' as 'Int64' and array 'Int64Array
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'path' as 'Path'
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'quath[4]' as 'Quath' and array 'QuathArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'string' as 'String'
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'target' as 'Target'
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray
+2026-10-23 05:57:39,019 DEBUG AutoNode: Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'token' as 'Token' and array 'TokenArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'uchar' as 'UChar' and array 'UCharArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'uint' as 'UInt' and array 'UIntArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'uint64' as 'UInt64' and array 'UInt64Array
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray
+2026-10-23 05:57:39,020 DEBUG AutoNode: Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray
+2026-10-23T05:57:39Z [8,564ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-23T05:57:39Z [8,809ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-23T05:57:56Z [25,355ms] [Warning] [rtx.hydra] RenderDelegate : Warning /rtx/hydra/readTransformsFromFabricInRenderDelegate and geometry streaming are enabled together but this can cause issues with dynamic objects not streaming correctly due to problems in the transform update.
+[ISAACLAB] AppLauncher initialization complete
+2026-10-23 05:58:39,620 WARNING isaaclab_physx.physics.physx_manager: TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23T05:58:39Z [68,485ms] [Warning] [isaaclab_physx.physics.physx_manager] TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23 05:58:40,018 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Startup: isaacsim.asset.transformer.rules-1.7.10
+2026-10-23 05:58:40,111 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 05:58:40,734 INFO isaacsim.asset.importer.utils.impl.asset_utils: Fixed base already present on /aqualab_4te/Geometry/base_link - skipping fix_base.
+2026-10-23 05:58:40,735 INFO isaacsim.asset.importer.utils.impl.asset_utils: Relocated ArticulationRootAPI on 1 rigid body(ies).
+2026-10-23 05:58:40,739 INFO isaacsim.asset.importer.utils.impl.importer_utils: Applied RobotAPI to prim /aqualab_4te
+2026-10-23 05:58:40,741 INFO isaacsim.asset.importer.utils.impl.importer_utils: Set isaac:robotType = 'Default' on /aqualab_4te
+2026-10-23 05:58:40,791 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 05:58:41,777 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/a8826fa0f3808cec/evidence/tmp/chemlab-textures-yjevz4n2/instrument/physics/model/payloads/base.usda
+2026-10-23 05:58:42,255 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/a8826fa0f3808cec/evidence/tmp/chemlab-textures-yjevz4n2/instrument/physics/model/model.usda
+2026-10-23 05:58:42,262 INFO isaacsim.asset.transformer.manager: Skipping disabled rule: Delete Newton Redundant APIs
+2026-10-23 05:58:42,800 INFO isaaclab.utils.backend_utils: Registered backend 'physx' for factory Articulation.
+[INFO]: Registered backend 'physx' for factory Articulation.
+2026-10-23T05:58:43Z [72,495ms] [Warning] [omni.usd] Encountered USD Warnings but USD Diagnostics are currently muted. To view USD Warnings, please set the '/persistent/app/usd/muteUsdDiagnostics' setting to false in Preferences page.
+2026-10-23 05:58:47,425 INFO isaaclab_physx.assets.articulation.articulation: Simulation parameters for joints in /World/instrument/physics:
++-----------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                  Simulation Joint Information (Prim path: /World/instrument/physics)                                                  |
++-------+------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+| Index | Name             | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction | Position Limits | Velocity Limits | Effort Limits |
++-------+------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+|   0   | lid_joint        |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
+|   1   | lever_lock_joint |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
++-------+------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+[INFO]: Simulation parameters for joints in /World/instrument/physics:
++-----------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                  Simulation Joint Information (Prim path: /World/instrument/physics)                                                  |
++-------+------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+| Index | Name             | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction | Position Limits | Velocity Limits | Effort Limits |
++-------+------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+|   0   | lid_joint        |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
+|   1   | lever_lock_joint |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 1.571] |      1.000      |     10.000    |
++-------+------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+2026-10-23T05:58:48Z [76,958ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
+2026-10-23 05:58:48,178 INFO isaaclab_physx.renderers.isaac_rtx_renderer_utils: RTX streaming completed in 0.06 s.
+[INFO]: RTX streaming completed in 0.06 s.
+2026-10-23 05:58:50,156 INFO isaacsim.asset.transformer.rules.utils: Discovered 12 Kit-shipped MDL basename(s) and 12 suffix form(s) (merged with 15 hardcoded fallback basename(s)).
+2026-10-23T05:58:50Z [79,021ms] [Warning] [omni.kit.material.library.material_extensions] Could not initialize context menu integration: No module named 'omni.kit.context_menu'
+2026-10-23 05:58:51,221 INFO __main__: worker ready: task=isaaclab/chemlab-water-activity-temperature seed=0 mode=practice socket=/tmp/roboenv-socket-huhtfjyt/worker.sock
+/usr/lib/python3.12/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/native-initialization.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/native-initialization.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0972513209264356fef2b991e5c6544250aafdc
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/native-initialization.json
@@ -0,0 +1,2150 @@
+{
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/recording/frames.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/recording/frames.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a11a2eda13f27cddaecdbe6866266389336603f3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/owner/recording/frames.jsonl
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+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/replay.json
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/task.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/task.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dc3600b53d6af9301f2e1e261dd836cd306fef76
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/task.yaml
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+id: isaaclab/chemlab-water-activity-temperature
+robot: isaaclab/isaaclab-chemlab-instruments
+instruction: Power on the water activity meter and bring the indicated temperature
+  to 303.15 K, within 0.5 K, for one simulation second.
+seed: 0
+budget_mode: practice
+execution_mode: realtime
+stop_on_success: true
+backend_kwargs:
+  task_name: chemlab-instruments
+  task_spec:
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+      instrument:
+        asset: instrument.aqualab_4te
+        initialize: []
+    goals:
+    - instrument: instrument
+      state: thermal.indicated_temperature_k
+      min: 302.65
+      max: 303.65
+    dwell_s: 1.0
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/artifacts.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/artifacts.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7060a0dd0143b3abf4fa02480a327110013ef48
--- /dev/null
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+    "enabled": true,
+    "encoder_complete": true,
+    "manifest": {
+      "accepted_samples": 2041,
+      "captured_samples": 2041,
+      "clock": "simulation",
+      "dropped_samples": 0,
+      "encoded_frames": 2041,
+      "end_time_s": 203.9999999999927,
+      "error": null,
+      "experimental": true,
+      "fps": 10,
+      "overflow_policy": "drop",
+      "received_samples": 2041,
+      "represented_samples": 2041,
+      "schema": "roboenv/recording/1",
+      "state": "closed",
+      "status": "complete",
+      "views": [
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "third_person",
+          "pose": null,
+          "source": "third_person",
+          "width": 1280
+        },
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "instrument_lcd",
+          "pose": null,
+          "source": "instrument_lcd",
+          "width": 1280
+        },
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "instrument_readout_display_digits",
+          "pose": null,
+          "source": "instrument_readout_display_digits",
+          "width": 1280
+        }
+      ]
+    },
+    "represented_samples": 2041,
+    "source_sample_coverage": 1.0,
+    "source_samples_complete": true,
+    "video_available": true,
+    "videos": [
+      {
+        "bytes": 7193060,
+        "path": "recording/third_person.mp4"
+      },
+      {
+        "bytes": 9245520,
+        "path": "recording/instrument_lcd.mp4"
+      },
+      {
+        "bytes": 7902633,
+        "path": "recording/instrument_readout_display_digits.mp4"
+      }
+    ]
+  },
+  "schema": "rlebench/episode-artifacts/1",
+  "terminal_evidence": {
+    "available": true,
+    "complete": true,
+    "manifest": {
+      "complete": true,
+      "files": {
+        "final-observation.json": {
+          "complete": true,
+          "path": "final-observation.json",
+          "sha256": "9e36c52b5fdc998a47b44658b186af28f0f05d11916e912ac86f3a5b1d407369"
+        }
+      },
+      "schema": "roboenv/terminal-evidence/1"
+    }
+  },
+  "workspace_complete": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/episode.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/episode.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e42227c132b7dfecd780c1439682af682fa941
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/episode.json
@@ -0,0 +1,21 @@
+{
+  "episode": 1,
+  "initialization": {
+    "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+    "execution_mode": "realtime",
+    "loaded_state_sha256": "86c2d6c80c42938e38bcff8bfd142d3584d69bd219ae54883f2206338b175931",
+    "seed": 0,
+    "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+    "task": "isaaclab/chemlab-water-activity-temperature",
+    "task_sha256": "19e610899a2cd405c26025ed3eff3a071a7c9c88e9fd7da30f567f15a92b5072"
+  },
+  "native_reward": 1.0,
+  "planned_episodes": 1,
+  "reason": "success",
+  "simulation_time_s": null,
+  "step_limit": null,
+  "steps": 2040,
+  "success": true,
+  "valid": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/episodes.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/episodes.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fcf180b2c233d2a70cd23e17a372eafb87a397d
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/episodes.json
@@ -0,0 +1,23 @@
+[
+  {
+    "episode": 1,
+    "initialization": {
+      "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+      "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+      "execution_mode": "realtime",
+      "loaded_state_sha256": "86c2d6c80c42938e38bcff8bfd142d3584d69bd219ae54883f2206338b175931",
+      "seed": 0,
+      "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+      "task": "isaaclab/chemlab-water-activity-temperature",
+      "task_sha256": "19e610899a2cd405c26025ed3eff3a071a7c9c88e9fd7da30f567f15a92b5072"
+    },
+    "native_reward": 1.0,
+    "planned_episodes": 1,
+    "reason": "success",
+    "simulation_time_s": null,
+    "step_limit": null,
+    "steps": 2040,
+    "success": true,
+    "valid": true
+  }
+]
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/protocol.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f685a00a54ed5d3e1438c27d2a8c47682afc4ef
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/protocol.json
@@ -0,0 +1,59 @@
+{
+  "episode_specs": [
+    {
+      "instruction_template": {
+        "bindings": {},
+        "policy": "original_native",
+        "prompt": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-water-activity-temperature\n\nPower on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n"
+      },
+      "max_steps": null,
+      "provider": "roboenv",
+      "seed": 0,
+      "task": {
+        "backend_kwargs": {
+          "asset_directory": "/opt/roboenv/assets/chemlab/a6c006f921c9bee62f5585dd7f769163a7f51573",
+          "task_name": "chemlab-instruments",
+          "task_spec": {
+            "dwell_s": 1.0,
+            "goals": [
+              {
+                "instrument": "instrument",
+                "max": 303.65,
+                "min": 302.65,
+                "state": "thermal.indicated_temperature_k"
+              }
+            ],
+            "instruments": {
+              "instrument": {
+                "asset": "instrument.aqualab_4te",
+                "initialize": []
+              }
+            }
+          }
+        },
+        "budget_mode": "practice",
+        "execution_mode": "realtime",
+        "id": "isaaclab/chemlab-water-activity-temperature",
+        "instruction": "Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.",
+        "robot": "isaaclab/isaaclab-chemlab-instruments",
+        "seed": 0,
+        "stop_on_success": true
+      },
+      "yaml": "/opt/benchmark/episode_01.yaml"
+    }
+  ],
+  "episodes": 1,
+  "instruction_policy": "original_native",
+  "max_steps": null,
+  "memory_retention": "retain",
+  "previous_episode_feedback": false,
+  "provider": "roboenv",
+  "realtime": true,
+  "recording": true,
+  "safety_timeout_sec": 28800,
+  "seeds": [
+    0
+  ],
+  "step_unit": "native action frames",
+  "version": "episodic-learning-v1"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/reward.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/reward.json
new file mode 100644
index 0000000000000000000000000000000000000000..65efe5079f081e5942187ad7b8ecb91b4d48d4e9
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/reward.json
@@ -0,0 +1,4 @@
+{
+  "reward": 1.0,
+  "valid": 1.0
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/workspace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/workspace.json
new file mode 100644
index 0000000000000000000000000000000000000000..74730fb454339aaa66ca88c7fd6be5f3895a5ff2
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/verifier/workspace.json
@@ -0,0 +1,82 @@
+{
+  "added": [
+    ".kinex/devices/_camera.py",
+    ".kinex/devices/_roboenv.py",
+    ".kinex/devices/instrument/connection.json",
+    ".kinex/devices/instrument/driver.py",
+    ".kinex/devices/instrument/intrinsics.json",
+    ".kinex/devices/instrument/profile.yaml",
+    ".kinex/devices/world/connection.json",
+    ".kinex/devices/world/driver.py",
+    ".kinex/devices/world/profile.yaml",
+    ".kinex/memos/chemlab-water-activity.md",
+    ".kinex/workspace.yaml",
+    "instruction.md"
+  ],
+  "files": {
+    ".kinex/devices/_camera.py": {
+      "bytes": 2815,
+      "sha256": "308f75cac021bf6fa8c6f9649380544f48d4d3a94c674fbf8ce027d44170c447"
+    },
+    ".kinex/devices/_roboenv.py": {
+      "bytes": 22951,
+      "sha256": "91917ae37663415832f91dc404db0c31886b785a7fb45d7847feb3f937a4232b"
+    },
+    ".kinex/devices/instrument/connection.json": {
+      "bytes": 80,
+      "sha256": "01da3e37422a245975d9d96c8d8bf2adf2da1aa17c817975c6863b6d0b5a60aa"
+    },
+    ".kinex/devices/instrument/driver.py": {
+      "bytes": 1017,
+      "sha256": "bcc8581a7671c306f630caefb30d3efee41e4c9852ce9a574a4ddc6a0c97f609"
+    },
+    ".kinex/devices/instrument/intrinsics.json": {
+      "bytes": 14638,
+      "sha256": "3a5c33a4f2306b345326fdfa3d7c0346968315b345e02fbc2d97fb35275a56ea"
+    },
+    ".kinex/devices/instrument/profile.yaml": {
+      "bytes": 1316,
+      "sha256": "471d0688fd04d3a0231cb975806a5c6eb160ae902d3699b7488015aefbb493a8"
+    },
+    ".kinex/devices/world/connection.json": {
+      "bytes": 80,
+      "sha256": "01da3e37422a245975d9d96c8d8bf2adf2da1aa17c817975c6863b6d0b5a60aa"
+    },
+    ".kinex/devices/world/driver.py": {
+      "bytes": 846,
+      "sha256": "53170d311964250142c87df4111f277ee94ea053c9eb45d80f60d5f8c07c5b24"
+    },
+    ".kinex/devices/world/profile.yaml": {
+      "bytes": 482,
+      "sha256": "03d48295a427d55dc84eae7eb71a20dc75833ad4f34637817cd33407fc034d1f"
+    },
+    ".kinex/memos/chemlab-water-activity.md": {
+      "bytes": 1350,
+      "sha256": "8b596a064d08f92a79cfe3d0e64dc3c47e3dd333238131c924d469bbd63a9807"
+    },
+    ".kinex/workspace.yaml": {
+      "bytes": 596,
+      "sha256": "05ee05f92fb5d1d37b51e63bcbcde6b143458c64c0492ba5d21eb12f92e7aa1f"
+    },
+    "instruction.md": {
+      "bytes": 2637,
+      "sha256": "5a3b826c7b11ff660ba8d3765dd1c8c4ebb56e6e38975909bdfe55481d7a2c5f"
+    }
+  },
+  "modified": [],
+  "removed": [],
+  "schema": "rlebench/episode-workspace/1",
+  "scope": [
+    "instruction.md",
+    "harness.md",
+    ".kinex/workspace.yaml",
+    ".kinex/devices",
+    "tools",
+    "skills",
+    "memos",
+    ".kinex/tools",
+    ".kinex/skills",
+    ".kinex/memos"
+  ],
+  "skipped_symlinks": []
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/_camera.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/_camera.py
new file mode 100644
index 0000000000000000000000000000000000000000..27eecb55699f9de34096f468c3ce6be4cde99338
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/_camera.py
@@ -0,0 +1,73 @@
+"""Camera output conversion; the server's artifact protocol stays unchanged."""
+
+import base64
+import io
+import math
+import struct
+from pathlib import Path
+
+
+def output_mode(value="file"):
+    if value not in ("file", "array", "base64"):
+        raise ValueError("camera output must be file, array or base64")
+    return value
+
+
+def camera_read(data, profile):
+    value = data["timestamp"]
+    if type(value) not in {int, float} or not math.isfinite(value):
+        raise ValueError("Invalid camera timestamp")
+    content = "color" in data
+    color = profile["intrinsics"]["color"]
+    if content:
+        header = base64.b64decode(data["color"], validate=True)[:26]
+    else:
+        with Path(data["file"]).open("rb") as handle:
+            header = handle.read(26)
+    if (
+        len(header) != 26
+        or header[:8] != b"\x89PNG\r\n\x1a\n"
+        or header[12:16] != b"IHDR"
+        or header[24:26] != b"\x08\x02"
+        or struct.unpack(">II", header[16:24]) != (color["width"], color["height"])
+    ):
+        raise ValueError("Remote color must be an RGB8 PNG at the profile resolution")
+    key = "color" if content else "file"
+    result = {key: data[key], "timestamp": value}
+    if profile["type"] == "rgb":
+        return result
+    depth = profile["intrinsics"]["depth"]
+    if depth["registration"] != "color" or depth["quantity"] != "z" or depth["invalid_value"] != 0:
+        raise ValueError("RoboCasa serves color-registered optical Z with zero invalid")
+    width, height = depth["width"], depth["height"]
+    expected = f"P5\n{width} {height}\n65535\n".encode()
+    key = "depth" if content else "depth_file"
+    if content:
+        raw = base64.b64decode(data[key], validate=True)
+    else:
+        with Path(data[key]).open("rb") as handle:
+            raw = handle.read(len(expected) + width * height * 2 + 1)
+    if not raw.startswith(expected) or len(raw) != len(expected) + width * height * 2:
+        raise ValueError("Remote depth must be PGM16 at the profile resolution")
+    limits = depth["valid_range_m"]
+    if any(
+        pixel != depth["invalid_value"]
+        and not limits["min"] <= pixel * depth["scale_m_per_unit"] <= limits["max"]
+        for (pixel,) in struct.iter_unpack(">H", raw[len(expected) :])
+    ):
+        raise ValueError("Remote depth exceeds the declared valid range")
+    return {**result, key: data[key]}
+
+
+def arrays(data, profile):
+    import numpy as np
+    from PIL import Image
+
+    result = dict(data)
+    for key in ("color", "depth") if profile["type"] == "rgbd" else ("color",):
+        raw = base64.b64decode(data[key], validate=True)
+        with Image.open(io.BytesIO(raw)) as image:
+            result[key] = np.array(
+                image, dtype=np.uint8 if key == "color" else np.uint16, copy=True
+            )
+    return result
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/_roboenv.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/_roboenv.py
new file mode 100644
index 0000000000000000000000000000000000000000..62fe4fea7250765be2a88c30c271bf247c8ad1e3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/_roboenv.py
@@ -0,0 +1,530 @@
+"""Portable driver dialog and transport, shared by one exported device collection."""
+
+import base64
+import contextlib
+import http.client
+import json
+import os
+import secrets
+import shutil
+import signal
+import socket
+import sys
+import tempfile
+import threading
+import time
+from concurrent.futures import ThreadPoolExecutor, wait
+from functools import cached_property
+from pathlib import Path
+from urllib.parse import quote, urlsplit
+
+MAX_BYTES = 8 * 1024 * 1024
+
+
+class WireError(RuntimeError):
+    def __init__(self, message, code, request_id, details=None):
+        super().__init__(message)
+        self.code, self.request_id, self.details = code, request_id, details
+
+
+class Transport:
+    def __init__(self, driver, *, device=None):
+        self.directory = Path(driver).resolve().parent
+        self.device = device
+        self._local = threading.local()
+        self._connections = set()
+        self._connections_lock = threading.Lock()
+        self.connection = None
+        self.last_exchange = 0
+        self.used = False
+        self.unloaded = False
+        self.deadline = None
+        self._motions = {}
+        self._motion_lock = threading.Lock()
+        self._motion_error = None
+
+    @property
+    def connection(self):
+        return getattr(self._local, "connection", None)
+
+    @connection.setter
+    def connection(self, value):
+        self._local.connection = value
+        if value is not None:
+            with self._connections_lock:
+                self._connections.add(value)
+
+    @property
+    def last_exchange(self):
+        return getattr(self._local, "last_exchange", 0)
+
+    @last_exchange.setter
+    def last_exchange(self, value):
+        self._local.last_exchange = value
+
+    def close_all(self):
+        with self._connections_lock:
+            connections, self._connections = self._connections, set()
+        for connection in connections:
+            if connection.sock is not None:
+                with contextlib.suppress(OSError):
+                    connection.sock.shutdown(socket.SHUT_RDWR)
+            connection.close()
+
+    @cached_property
+    def profile(self):
+        import yaml
+
+        return yaml.safe_load((self.directory / "profile.yaml").read_text())
+
+    def settings(self):
+        return self.profile
+
+    @cached_property
+    def config(self):
+        file = self.directory / "connection.json"
+        return (
+            json.loads(file.read_text())
+            if file.is_file()
+            else {
+                "endpoint": os.environ.get("ROBOENV_ENDPOINT"),
+                "socket": os.environ.get("ROBOENV_SOCKET"),
+                "session": os.environ.get("ROBOENV_SESSION"),
+                "generation": int(os.environ.get("ROBOENV_GENERATION", "0")),
+            }
+        )
+
+    @cached_property
+    def endpoint(self):
+        if self.config.get("endpoint") or self.config.get("socket"):
+            return self.config.get("endpoint")
+        return self.settings()["access"]["connection"]["url"]
+
+    @cached_property
+    def identity(self):
+        identity = {
+            "protocol": "roboenv/1",
+            "session": self.config.get("session") or "roboenv",
+            "generation": self.config.get("generation", 0),
+        }
+        if self.endpoint and not self.config.get("session"):
+            try:
+                found = json.loads(self.exchange(self.endpoint, "GET"))
+                if (
+                    not isinstance(found, dict)
+                    or found.get("protocol") != "roboenv/1"
+                    or not isinstance(found.get("session"), str)
+                    or type(found.get("generation")) is not int
+                    or found["generation"] < 0
+                ):
+                    raise ValueError("Endpoint returned an invalid environment identity")
+                identity = {key: found[key] for key in identity}
+            except Exception:
+                self.close()
+                raise
+        return identity
+
+    @cached_property
+    def target(self):
+        if self.device is not None:
+            return self.device
+        profile = self.settings()
+        key = "camera" if profile["type"] in {"rgb", "rgbd"} else "device"
+        return profile["access"]["connection"][key]
+
+    @cached_property
+    def can_stop(self):
+        return "stop" in self.settings()["access"]["driver"]["actions"]
+
+    def close(self):
+        if self.connection is not None:
+            with self._connections_lock:
+                self._connections.discard(self.connection)
+            self.connection.close()
+            self.connection = None
+
+    def timeout(self):
+        if self.deadline is None:
+            return 605
+        remaining = self.deadline - time.monotonic()
+        if remaining <= 0:
+            raise TimeoutError("Driver cleanup deadline exceeded")
+        return remaining
+
+    def exchange(self, endpoint, method, path="/", body=None, destination=None):
+        if self.connection is not None and time.monotonic() - self.last_exchange >= 5:
+            self.close()
+        try:
+            if self.connection is None:
+                url = urlsplit(endpoint)
+                if (
+                    url.scheme not in {"http", "https"}
+                    or not url.hostname
+                    or url.username is not None
+                    or url.password is not None
+                    or url.path not in {"", "/"}
+                    or url.query
+                    or url.fragment
+                ):
+                    raise ValueError("Expected an HTTP(S) device endpoint")
+                cls = (
+                    http.client.HTTPSConnection
+                    if url.scheme == "https"
+                    else http.client.HTTPConnection
+                )
+                self.connection = cls(url.hostname, url.port, timeout=self.timeout())
+            self.connection.timeout = self.timeout()
+            if self.connection.sock is not None:
+                self.connection.sock.settimeout(self.timeout())
+            self.connection.request(
+                method, path, body=body, headers={"Content-Type": "application/json"}
+            )
+            response = self.connection.getresponse()
+            if response.status != 200:
+                raise RuntimeError(f"HTTP {response.status}")
+            expected = response.length
+            if expected is None:
+                raise ValueError("Response requires Content-Length")
+            if destination is None:
+                raw = response.read(MAX_BYTES + 1)
+                if len(raw) > MAX_BYTES or len(raw) != expected:
+                    raise ValueError(
+                        "Oversized or incomplete response; use output='file' for large images"
+                    )
+            else:
+                size = 0
+                with destination.open("wb") as stream:
+                    while chunk := response.read(65536):
+                        size += stream.write(chunk)
+                if size != expected:
+                    raise ValueError("Incomplete artifact")
+                raw = None
+            self.last_exchange = time.monotonic()
+            if response.will_close:
+                self.close()
+            return raw
+        except BaseException:
+            # Also discard an interrupted request before SIGTERM cleanup uses the wire.
+            self.close()
+            if destination is not None:
+                destination.unlink(missing_ok=True)
+            raise
+
+    def cancel_motions(self):
+        with self._motion_lock:
+            identities = set(self._motions.values())
+            self._motions.clear()
+        for identity in identities:
+            self.remote("cancel_motion", {"execution_id": identity})
+
+    def write(self, args, reading):
+        """Validate accepted motion feedback, cancelling only this request on failure."""
+        if self._motion_error is not None:
+            raise self._motion_error
+        request_id = f"driver-{secrets.token_hex(8)}"
+        accepted = False
+        try:
+            data = self.remote("write", args, request_id=request_id)
+            accepted = True
+            if not isinstance(data, dict) or data.get("execution_id") != request_id:
+                raise ValueError("motion must return its execution_id")
+            if not isinstance(data.get("state"), dict):
+                raise ValueError("motion must return measured state")
+            return {**data, "state": reading(data["state"])}
+        except Exception as error:
+            if not accepted and not (
+                isinstance(error, WireError) and error.code == "outcome_unknown"
+            ):
+                raise
+            try:
+                result = self.remote("cancel_motion", {"execution_id": request_id})
+                if not isinstance(result, dict) or type(result.get("stopped")) is not bool:
+                    raise ValueError("Remote cancellation was not acknowledged")
+            except Exception as cleanup:
+                self._motion_error = WireError(
+                    f"{error}; cancellation failed: {cleanup}", "stop_failed", request_id,
+                    {"effects": "unknown", "validation_error": str(error),
+                     "cleanup_error": str(cleanup)},
+                )
+                raise self._motion_error from cleanup
+            with self._motion_lock:
+                if self._motions.get(self.target) == request_id:
+                    self._motions.pop(self.target)
+            raise
+
+    def remote(self, action, args, *, image_output="file", request_id=None):
+        identity = self.identity
+        if request_id is None:
+            request_id = secrets.token_hex(8)
+            if action == "wait":
+                request_id = getattr(self._local, "request_id", request_id)
+            request_id = f"driver-{request_id}"
+        request = {
+            **identity,
+            "request_id": request_id,
+            "deadline_s": 600 if self.deadline is None else self.timeout(),
+            "op": {"cancel_motion": "devices.cancel"}.get(action, "devices.call"),
+            "args": args
+            if action == "cancel_motion"
+            else {"device": self.target, "action": action, "args": args},
+        }
+        payload = json.dumps(request, allow_nan=False).encode() + b"\n"
+        if len(payload) > MAX_BYTES:
+            raise ValueError("Device request is too large")
+        if action in {"write", "wait"}:
+            with self._motion_lock:
+                self._motions[request_id if action == "wait" else self.target] = request_id
+        self.used, self.unloaded = True, False
+        # A broken connection never causes this request to be resubmitted.
+        try:
+            if self.endpoint:
+                raw = self.exchange(self.endpoint, "POST", body=payload)
+            else:
+                with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+                    sock.settimeout(self.timeout())
+                    sock.connect(self.config["socket"])
+                    sock.sendall(payload)
+                    with sock.makefile("rb") as stream:
+                        raw = stream.readline(MAX_BYTES + 1)
+            response = json.loads(raw)
+            if (
+                len(raw) > MAX_BYTES
+                or not raw.endswith(b"\n")
+                or any(response.get(key) != request[key] for key in (*identity, "request_id"))
+                or type(response.get("generation")) is not int
+                or type(response.get("ok")) is not bool
+            ):
+                raise ValueError("Incomplete or mismatched device response")
+            if response["ok"] and (
+                not isinstance(response.get("result"), dict) or "data" not in response["result"]
+            ):
+                raise ValueError("Device response has no result data")
+            if not response["ok"] and not isinstance(response.get("error"), dict):
+                raise ValueError("Device response has no error details")
+        except Exception as exc:
+            self.close()
+            raise WireError(str(exc), "outcome_unknown", request_id) from exc
+        if action == "wait":
+            with self._motion_lock:
+                self._motions.pop(request_id, None)
+        if not response["ok"]:
+            error = response["error"]
+            raise WireError(
+                error.get("message", str(error)),
+                error.get("code"),
+                request_id,
+                error.get("details"),
+            )
+        self.unloaded = action == "unload"
+        if action == "load":
+            self._motion_error = None
+        data = response["result"]["data"]
+        if "simulation" in response["result"] and isinstance(data, dict):
+            data = {**data, "simulation": response["result"]["simulation"]}
+        if (
+            action == "read"
+            and isinstance(data, dict)
+            and data.get("file")
+            and image_output != "file"
+        ):
+            data = dict(data)
+            for key, target in (("file", "color"), ("depth_file", "depth")):
+                if data.get(key):
+                    file = data.pop(key)
+                    if self.endpoint:
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(Path(file).name)}"
+                        )
+                        raw = self.exchange(self.endpoint, "GET", route)
+                    else:
+                        raw = Path(file).read_bytes()
+                    data[target] = base64.b64encode(raw).decode("ascii")
+        elif self.endpoint and action == "read" and isinstance(data, dict) and data.get("file"):
+            directory = Path(tempfile.mkdtemp(prefix="roboenv-images-"))
+            try:
+                for key in ("file", "depth_file"):
+                    if data.get(key):
+                        name = Path(data[key]).name
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(name)}"
+                        )
+                        self.exchange(self.endpoint, "GET", route, destination=directory / name)
+                        data[key] = str(directory / name)
+            except BaseException:
+                shutil.rmtree(directory)
+                raise
+        if self.unloaded:
+            self.close()
+        return data
+
+
+def main(handle, transport):
+    serving = "--serve" in sys.argv
+    can_stop = transport.can_stop if serving else False
+    pools = {}
+    writes = []
+    pending = set()
+    output_lock = threading.Lock()
+    stop_tail = None
+
+    def respond(action, args):
+        try:
+            if not isinstance(action, str) or not isinstance(args, dict):
+                raise ValueError("Expected an action name and an arguments object")
+            return handle(action, args)
+        except Exception as exc:
+            return {"ok": False, "error": str(exc)}
+
+    def terminate(_signum, _frame):
+        raise SystemExit(0)
+
+    def expired(_signum, _frame):
+        raise TimeoutError("Driver cleanup exceeded 500 ms")
+
+    previous = signal.signal(signal.SIGTERM, terminate) if serving else None
+    # Keep the response descriptor private; native SDK writes to fd 1 are logs too.
+    sys.stdout.flush()
+    with os.fdopen(os.dup(sys.stdout.fileno()), "w") as output:
+        os.dup2(sys.stderr.fileno(), sys.stdout.fileno())
+        try:
+            with contextlib.redirect_stdout(sys.stderr):
+                try:
+                    if serving:
+                        pools = {
+                            name: ThreadPoolExecutor(max_workers=count)
+                            for name, count in (
+                                ("read", 8),
+                                ("write", 1),
+                                ("stop", 1),
+                                ("capture", 1),
+                            )
+                        }
+
+                        def send(request, cancel=None, predecessor=None):
+                            transport._local.request_id = request["id"]
+                            if predecessor is not None:
+                                predecessor.result()
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "queued write interrupted by stop"}
+                            else:
+                                result = respond(request["action"], request.get("args", {}))
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "device write interrupted by stop"}
+                            with output_lock:
+                                output.write(
+                                    json.dumps({**result, "id": request["id"]}, allow_nan=False)
+                                    + "\n"
+                                )
+                                output.flush()
+
+                        for line in sys.stdin:
+                            try:
+                                request = json.loads(line)
+                                if not isinstance(request, dict) or not isinstance(
+                                    request.get("id"), str
+                                ):
+                                    raise ValueError(
+                                        "persistent requests require a string id; "
+                                        "migrate the caller"
+                                    )
+                            except ValueError as error:
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": None, "ok": False, "error": str(error)})
+                                        + "\n"
+                                    )
+                                    output.flush()
+                                break
+                            target = request.get("interrupt")
+                            if isinstance(target, str):
+                                transport.remote(
+                                    "cancel_motion", {"execution_id": f"driver-{target}"}
+                                )
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            if target is True:
+                                for _, event in writes:
+                                    event.set()
+                                if any(not future.done() for future, _ in writes):
+                                    transport.cancel_motions()
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            action = request["action"]
+                            pending = {future for future in pending if not future.done()}
+                            writes = [
+                                (future, event) for future, event in writes if not future.done()
+                            ]
+                            if action in {"stop", "unload"}:
+                                for _, event in writes:
+                                    event.set()
+                            if action in {"load", "unload"}:
+                                if (
+                                    action == "unload"
+                                    and can_stop
+                                    and any(not future.done() for future, _ in writes)
+                                ):
+                                    respond("stop", {})
+                                if action == "unload":
+                                    transport.cancel_motions()
+                                wait(pending)
+                                send(request)
+                                continue
+                            kind = (
+                                "read"
+                                if action in {"read", "wait", "status", "fk", "ik"}
+                                else "stop"
+                                if action == "stop"
+                                else "capture"
+                                if action in {"record_start", "record_stop"}
+                                else "write"
+                            )
+                            cancel = (
+                                threading.Event() if kind == "write" or action == "wait" else None
+                            )
+                            future = pools[kind].submit(
+                                send, request, cancel, stop_tail if kind == "write" else None
+                            )
+                            if kind == "stop":
+                                stop_tail = future
+                            pending.add(future)
+                            if cancel is not None:
+                                writes.append((future, cancel))
+                        wait(pending - {future for future, _ in writes})
+                        return
+                    action = sys.argv[1] if len(sys.argv) > 1 else "read"
+                    args = json.loads(sys.argv[2]) if len(sys.argv) > 2 else {}
+                    output.write(json.dumps(respond(action, args), allow_nan=False) + "\n")
+                    output.flush()
+                finally:
+                    for _, event in writes:
+                        event.set()
+                    if serving:
+                        signal.signal(signal.SIGTERM, signal.SIG_IGN)
+                        alarm = signal.signal(signal.SIGALRM, expired)
+                        transport.deadline = time.monotonic() + 0.5
+                        signal.setitimer(signal.ITIMER_REAL, 0.5)
+                        try:
+                            if transport.used and not transport.unloaded:
+                                transport.cancel_motions()
+                        except Exception as exc:
+                            print(str(exc), file=sys.stderr)
+                        finally:
+                            signal.setitimer(signal.ITIMER_REAL, 0)
+                            signal.signal(signal.SIGALRM, alarm)
+                    transport.close_all()
+                    for pool in pools.values():
+                        pool.shutdown(wait=True, cancel_futures=True)
+        finally:
+            os.dup2(output.fileno(), sys.stdout.fileno())
+            if serving:
+                signal.signal(signal.SIGTERM, previous)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..489ec52b7f5a426abff6494a4e52a0aa77ab70b0
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "a8826fa0f3808cec", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..1b14c538ba45789fb1cb30c1ac736bb6a0e58760
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/driver.py
@@ -0,0 +1,29 @@
+"""Generic remote device adapter; transport and dialog are shared with typed drivers."""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__, device=Path(__file__).parent.name)
+remote = transport.remote
+
+
+def handle(action, args):
+    try:
+        if action == "unload" and transport.can_stop:
+            stopped = remote("stop", {})
+            if stopped.get("stopped") is not True:
+                raise ValueError("Remote device did not acknowledge stop")
+        data = remote(action, args)
+        return {**(data if isinstance(data, dict) else {"result": data}), "ok": True}
+    except WireError as exc:
+        return {"ok": False, "error": str(exc), "code": exc.code, "request_id": exc.request_id}
+    except Exception as exc:
+        return {"ok": False, "error": str(exc)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/intrinsics.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/intrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c459e10831ae221305faf9b64c40673e3fd79345
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/intrinsics.json
@@ -0,0 +1,593 @@
+{
+  "instrument": {
+    "asset_id": "instrument.aqualab_4te",
+    "catalog_id": "CHEM-007",
+    "domain": "Basic Metrology & Sample Handling",
+    "manufacturer": "AQUALAB",
+    "model": "4TE",
+    "name": "Water-activity meter",
+    "release": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "size_m": [
+      0.267,
+      0.184,
+      0.129
+    ],
+    "state_slots": {
+      "beeper.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "calibration.offset_aw": {
+        "unit": "1",
+        "value_schema": {
+          "maximum": 0.03,
+          "minimum": -0.03,
+          "type": "number",
+          "x-unit": "1"
+        }
+      },
+      "cycle.elapsed_s": {
+        "unit": "s",
+        "value_schema": {
+          "minimum": 0,
+          "type": "number",
+          "x-unit": "s"
+        }
+      },
+      "cycle.phase": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "idle",
+            "running",
+            "succeeded",
+            "cancelled"
+          ],
+          "type": "string"
+        }
+      },
+      "data.last_reading": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "additionalProperties": false,
+              "properties": {
+                "datetime": {
+                  "type": "string"
+                },
+                "model": {
+                  "anyOf": [
+                    {
+                      "type": "string"
+                    },
+                    {
+                      "type": "null"
+                    }
+                  ]
+                },
+                "moisture_dry_basis": {
+                  "anyOf": [
+                    {
+                      "minimum": 0,
+                      "type": "number",
+                      "x-unit": "1"
+                    },
+                    {
+                      "type": "null"
+                    }
+                  ]
+                },
+                "name": {
+                  "maxLength": 20,
+                  "type": "string"
+                },
+                "sensor": {
+                  "type": "string"
+                },
+                "seq": {
+                  "minimum": 1,
+                  "type": "number",
+                  "x-unit": "1"
+                },
+                "temperature_k": {
+                  "maximum": 323.15,
+                  "minimum": 288.15,
+                  "type": "number",
+                  "x-unit": "K"
+                },
+                "test_time_s": {
+                  "minimum": 0,
+                  "type": "number",
+                  "x-unit": "s"
+                },
+                "user": {
+                  "type": "string"
+                },
+                "water_activity": {
+                  "anyOf": [
+                    {
+                      "maximum": 1.0,
+                      "minimum": 0.03,
+                      "type": "number",
+                      "x-unit": "1"
+                    },
+                    {
+                      "type": "null"
+                    }
+                  ]
+                }
+              },
+              "required": [
+                "seq",
+                "name",
+                "water_activity",
+                "temperature_k",
+                "test_time_s",
+                "user",
+                "datetime",
+                "sensor",
+                "moisture_dry_basis",
+                "model"
+              ],
+              "type": "object"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "data.records": {
+        "unit": "1",
+        "value_schema": {
+          "items": {
+            "additionalProperties": false,
+            "properties": {
+              "datetime": {
+                "type": "string"
+              },
+              "model": {
+                "anyOf": [
+                  {
+                    "type": "string"
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              },
+              "moisture_dry_basis": {
+                "anyOf": [
+                  {
+                    "minimum": 0,
+                    "type": "number",
+                    "x-unit": "1"
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              },
+              "name": {
+                "maxLength": 20,
+                "type": "string"
+              },
+              "sensor": {
+                "type": "string"
+              },
+              "seq": {
+                "minimum": 1,
+                "type": "number",
+                "x-unit": "1"
+              },
+              "temperature_k": {
+                "maximum": 323.15,
+                "minimum": 288.15,
+                "type": "number",
+                "x-unit": "K"
+              },
+              "test_time_s": {
+                "minimum": 0,
+                "type": "number",
+                "x-unit": "s"
+              },
+              "user": {
+                "type": "string"
+              },
+              "water_activity": {
+                "anyOf": [
+                  {
+                    "maximum": 1.0,
+                    "minimum": 0.03,
+                    "type": "number",
+                    "x-unit": "1"
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              }
+            },
+            "required": [
+              "seq",
+              "name",
+              "water_activity",
+              "temperature_k",
+              "test_time_s",
+              "user",
+              "datetime",
+              "sensor",
+              "moisture_dry_basis",
+              "model"
+            ],
+            "type": "object"
+          },
+          "maxItems": 8000,
+          "type": "array"
+        }
+      },
+      "device.datetime": {
+        "unit": "1",
+        "value_schema": {
+          "type": "string"
+        }
+      },
+      "device.fault": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "enum": [
+                "dew_point_sensor",
+                "crystal",
+                "contaminated_mirror",
+                "firmware"
+              ],
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "device.settings": {
+        "unit": "1",
+        "value_schema": {
+          "additionalProperties": false,
+          "properties": {
+            "autosave": {
+              "type": "boolean"
+            },
+            "beeps": {
+              "enum": [
+                "four",
+                "continuous",
+                "none"
+              ],
+              "type": "string"
+            },
+            "date_format": {
+              "enum": [
+                "mm/dd/yy",
+                "dd/mm/yy"
+              ],
+              "type": "string"
+            },
+            "language": {
+              "enum": [
+                "English"
+              ],
+              "type": "string"
+            },
+            "print_mode": {
+              "enum": [
+                "off",
+                "on",
+                "detailed"
+              ],
+              "type": "string"
+            },
+            "temperature_unit": {
+              "enum": [
+                "C",
+                "F"
+              ],
+              "type": "string"
+            },
+            "time_format": {
+              "enum": [
+                "12h",
+                "24h"
+              ],
+              "type": "string"
+            }
+          },
+          "required": [],
+          "type": "object"
+        }
+      },
+      "dewpoint.indicated_k": {
+        "unit": "K",
+        "value_schema": {
+          "anyOf": [
+            {
+              "maximum": 323.15,
+              "minimum": 200,
+              "type": "number",
+              "x-unit": "K"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "equilibrium.stable": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "isotherm.configured": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "isotherm.models": {
+        "unit": "1",
+        "value_schema": {
+          "items": {
+            "additionalProperties": false,
+            "properties": {
+              "matrix_id": {
+                "type": "string"
+              },
+              "name": {
+                "type": "string"
+              },
+              "offset_dry_basis": {
+                "maximum": 1,
+                "minimum": -1,
+                "type": "number",
+                "x-unit": "1"
+              },
+              "temperature_k": {
+                "maximum": 323.15,
+                "minimum": 288.15,
+                "type": "number",
+                "x-unit": "K"
+              }
+            },
+            "required": [
+              "name",
+              "matrix_id",
+              "temperature_k",
+              "offset_dry_basis"
+            ],
+            "type": "object"
+          },
+          "maxItems": 64,
+          "type": "array"
+        }
+      },
+      "isotherm.selected": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "maxLength": 20,
+              "minLength": 1,
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "latch.angle_rad": {
+        "unit": "rad",
+        "value_schema": {
+          "maximum": 1.5707963267948966,
+          "minimum": 0,
+          "type": "number",
+          "x-unit": "rad"
+        }
+      },
+      "lid.angle_rad": {
+        "unit": "rad",
+        "value_schema": {
+          "maximum": 1.5707963267948966,
+          "minimum": 0,
+          "type": "number",
+          "x-unit": "rad"
+        }
+      },
+      "method.mode": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "single",
+            "continuous",
+            "custom",
+            "low_emitting",
+            "iso18787"
+          ],
+          "type": "string"
+        }
+      },
+      "power.enabled": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "sample.loaded": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "serial.output": {
+        "unit": "1",
+        "value_schema": {
+          "items": {
+            "type": "string"
+          },
+          "maxItems": 50,
+          "type": "array"
+        }
+      },
+      "thermal.indicated_temperature_k": {
+        "unit": "K",
+        "value_schema": {
+          "maximum": 323.15,
+          "minimum": 288.15,
+          "type": "number",
+          "x-unit": "K"
+        }
+      },
+      "thermal.target_k": {
+        "unit": "K",
+        "value_schema": {
+          "maximum": 323.15,
+          "minimum": 288.15,
+          "type": "number",
+          "x-unit": "K"
+        }
+      },
+      "users.state": {
+        "unit": "1",
+        "value_schema": {
+          "additionalProperties": false,
+          "properties": {
+            "admin_set": {
+              "type": "boolean"
+            },
+            "current": {
+              "anyOf": [
+                {
+                  "type": "string"
+                },
+                {
+                  "type": "null"
+                }
+              ]
+            },
+            "users": {
+              "items": {
+                "additionalProperties": false,
+                "properties": {
+                  "access": {
+                    "additionalProperties": false,
+                    "properties": {
+                      "autosave": {
+                        "type": "boolean"
+                      },
+                      "beeps": {
+                        "type": "boolean"
+                      },
+                      "calibration": {
+                        "type": "boolean"
+                      },
+                      "date_time": {
+                        "type": "boolean"
+                      },
+                      "delete": {
+                        "type": "boolean"
+                      },
+                      "mode": {
+                        "type": "boolean"
+                      },
+                      "password": {
+                        "type": "boolean"
+                      },
+                      "region": {
+                        "type": "boolean"
+                      },
+                      "sensor": {
+                        "type": "boolean"
+                      },
+                      "temp_eq": {
+                        "type": "boolean"
+                      },
+                      "temperature": {
+                        "type": "boolean"
+                      }
+                    },
+                    "required": [
+                      "calibration",
+                      "temperature",
+                      "temp_eq",
+                      "sensor",
+                      "mode",
+                      "date_time",
+                      "region",
+                      "password",
+                      "autosave",
+                      "beeps",
+                      "delete"
+                    ],
+                    "type": "object"
+                  },
+                  "name": {
+                    "type": "string"
+                  }
+                },
+                "required": [
+                  "name",
+                  "access"
+                ],
+                "type": "object"
+              },
+              "maxItems": 20,
+              "type": "array"
+            }
+          },
+          "required": [
+            "admin_set",
+            "current",
+            "users"
+          ],
+          "type": "object"
+        }
+      },
+      "warmup.elapsed_s": {
+        "unit": "s",
+        "value_schema": {
+          "minimum": 0,
+          "type": "number",
+          "x-unit": "s"
+        }
+      },
+      "warmup.ready": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "water_activity.indicated": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "maximum": 1.0,
+              "minimum": 0.03,
+              "type": "number",
+              "x-unit": "1"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      }
+    }
+  },
+  "source": "user"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..722354d575b79026271ff5bb97b9a0b7979f399a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/instrument/profile.yaml
@@ -0,0 +1,70 @@
+name: instrument
+type: other
+intrinsics:
+  source: user
+extrinsics:
+  calibrated_at: null
+  method: manual
+  mount:
+    parent: world
+    parent_frame: world
+    rotation_xyzw:
+    - 0
+    - 0
+    - 0
+    - 1
+    translation_m:
+    - 0
+    - 0
+    - 0
+  source: user
+meta:
+  created_at: '2026-10-23T05:58:57.586235+00:00'
+  updated_at: '2026-10-23T05:58:57.586235+00:00'
+access:
+  source: user
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: instrument
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - acquisition_start
+    - acquisition_stop
+    - beeper_silence
+    - calibration_configure
+    - calibration_verify
+    - clock_set_date
+    - clock_set_time
+    - data_delete_all
+    - data_save
+    - isotherm_configure
+    - isotherm_copy
+    - isotherm_delete
+    - isotherm_select
+    - isotherm_set_offset
+    - latch_set_angle
+    - lid_set_angle
+    - load
+    - method_configure
+    - operation_cancel
+    - operation_poll
+    - panel_capture
+    - panel_press
+    - panel_switch
+    - power_set
+    - read
+    - settings_configure
+    - status
+    - thermal_set_temperature
+    - unload
+    - users_add
+    - users_delete
+    - users_login
+    - users_logout
+    - users_set_access
+    - users_set_admin_password
+    - users_set_password
+    - water_activity_measure
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..489ec52b7f5a426abff6494a4e52a0aa77ab70b0
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "a8826fa0f3808cec", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd94061b26ce7bffb5a4862b68dc7e4561c5b4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/driver.py
@@ -0,0 +1,27 @@
+"""World read returns time_s and optional budget {used_s, max_s}.
+Wait returns time_s and waited_s; transport preserves clock precision.
+"""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__)
+
+
+def handle(action, args):
+    try:
+        if action not in {"read", "wait", "load", "unload", "status"}:
+            raise ValueError(f"Unsupported world action: {action}")
+        return {"ok": True, **transport.remote(action, args)}
+    except WireError as error:
+        return {"ok": False, "error": str(error), "code": error.code}
+    except Exception as error:
+        return {"ok": False, "error": str(error)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1327c6a5749061d78a383fd9eda6a33a997de643
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/devices/world/profile.yaml
@@ -0,0 +1,28 @@
+name: world
+type: world
+intrinsics:
+  bounds: null
+  calibrated_at: null
+  method: manual
+  source: user
+  surfaces: []
+meta:
+  created_at: '2026-10-23T05:58:57.590727+00:00'
+  updated_at: '2026-10-23T05:58:57.590727+00:00'
+access:
+  source: user
+  method: unknown
+  calibrated_at: null
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: world
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - load
+    - read
+    - status
+    - unload
+    - wait
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/memos/chemlab-water-activity.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/memos/chemlab-water-activity.md
new file mode 100644
index 0000000000000000000000000000000000000000..5850a0267a129827760199cd426f7559461314c4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/memos/chemlab-water-activity.md
@@ -0,0 +1,8 @@
+# ChemLab water-activity temperature
+
+- Inspect context with `roboenv describe --endpoint "$ROBOENV_ENDPOINT"`; action argument schemas are available through `roboenv devices --name instrument --endpoint "$ROBOENV_ENDPOINT"` (profile lists actions, intrinsics lists observations).
+- Use Kinex instrument `read`, then `power_set({enabled:true})`, then `thermal_set_temperature({temperature_k:303.15})`. Allowed setpoint range in AQUALAB 4TE interface: 288.15–323.15 K.
+- Read `observations["power.enabled"].value`, `thermal.indicated_temperature_k` (value and sample_time_s), and `device.fault`. Setpoint acceptance is not temperature arrival.
+- Poll with world.wait; thermal response is gradual. Observed 298.15 K to 302.66 K in about 118 simulation seconds after setting 303.15 K. No sample loading, acquisition, or full warmup-ready requirement was needed for temperature-only task.
+- Verify powered temperature within requested tolerance for requested simulated duration. Simulator may terminate automatically during the hold; `episode_finished` then requires finalization rather than another device command.
+- Always inspect `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json`, then finalize using `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json`. Status is not success feedback; stop returned success for the 303.15 ±0.5 K / 1 s task.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/workspace.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/workspace.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d9f590b55b7e0b2cd2b76f94c502d3dda10c7a6a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/.kinex/workspace.yaml
@@ -0,0 +1,21 @@
+identity:
+  source: user
+  id: isaaclab-chemlab-instruments
+  name: ChemLab instrument workstation
+  platform: sim
+  kind: other
+  model: No robot; instrument command interface
+sim:
+  source: user
+  simulator: isaaclab
+  notes: Use read for sensor observations and declared instrument commands for operations.
+    World wait advances all instruments. No owner state, reset, or evaluator commands
+    are public.
+devices:
+  source: user
+safety:
+  source: user
+  notes: Follow instruction.md for task-specific limits.
+meta:
+  created_at: '2026-10-02T07:16:00Z'
+  updated_at: '2026-10-02T07:16:00Z'
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/instruction.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/instruction.md
new file mode 100644
index 0000000000000000000000000000000000000000..ebac1bb63a7cc1a9cd4356845586e5d92cc824cd
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/02-water-activity-temperature/workspace/instruction.md
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-water-activity-temperature
+
+Power on the water activity meter and bring the indicated temperature to 303.15 K, within 0.5 K, for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/effective-model.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/effective-model.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd5f31d814b342867be5dfab7a35cdcd306a730
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/effective-model.json
@@ -0,0 +1,392 @@
+{
+  "kinex_identity": "feb75f7c3c2c08976c25f274402da6d40cf83a6ed4c0ac38ddebec3cb8046ded",
+  "kinex_version": "1.0.0",
+  "kinex_source": {
+    "content_sha256": "f8fdd75011d20dfc12347cc27a17afc39764156a493627e65927d560b4226b04",
+    "files": {
+      ".nvmrc": "3151949a8b43e7df5385b69fbaeb5652bbdc7f7924e4278d550348f42b103f13",
+      "LICENSE": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30",
+      "THIRD_PARTY_NOTICES.txt": "2944e27dd41e38a2199e1f8c49f160441ff175da9920d7449641395d609eaad1",
+      "VERSION": "59854984853104df5c353e2f681a15fc7924742f9a2e468c29af248dce45ce03",
+      "assets/architecture.svg": "811cf19761e03c094d86acafdda31eb0739969ca5f1a84ba995d029897addff5",
+      "assets/kinex-logo-day.svg": "09eb0aa992af9b325a204d2b1ad6a6d75c181aa5abd4f4dd2bde8c8dfcfd1154",
+      "assets/kinex-logo-night.svg": "30a2e735991dc7e0ae321f23501c86ad3f4c4494db2b8daec9059e2d8214d31e",
+      "assets/kinex-logo-text-day.svg": "80b33e8606b8b58fc4e8fe73b3c5f4d63722ee9ad180587c9707338ee8e708c2",
+      "assets/kinex-logo-text-night.svg": "b3d3244f4215d74134a0dbbcc31f497fe7d80fb0090f3e5bdba761b9595788b7",
+      "bin/kinex.mjs": "2d09ca8a4ef0dda6d409b798b529c51adc0176da94debbef847f7fb33d3e3211",
+      "package-lock.json": "634aabb5beae712a713aaf5c55e19f0aa2960b9571c13d427eb6f887b5804589",
+      "package.json": "132b61329402b4c0307ad43678beb0d10ac277e5537e403bbe636dc50667f05c",
+      "packages/core/LICENSE": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30",
+      "packages/core/README.md": "83904c3ec0781deacc47b694772c49ab4336f0a1b0b96fdaabf3084d02286326",
+      "packages/core/assets/builtin/device/fastwam/DEVICE.md": "0509940f6774ecf2e6224a8dc0ebd2b96d09029c1511cc2f50ee7cf68021eae9",
+      "packages/core/assets/builtin/device/fastwam/artifacts.json": "52726b35c87841a45144f01beecd11fd9d49d7100a1540e1409661a7d6ec1271",
+      "packages/core/assets/builtin/device/fastwam/driver.py": "1ea8abdf5aa2ab84c6d187d14a2b517d8ab402b68a082e4ed267e05bd21dabf8",
+      "packages/core/assets/builtin/device/fastwam/fastwam_config.py": "504c064b588be83b23c5c9709b43d198116e9eee9c2e5140d3475a63c9d2abf1",
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+    },
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+    "revision": "15207927c6669fe98f1213a3fd05148e0fe938d3"
+  },
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+  "effort": "high",
+  "service_tier": "default",
+  "fresh_session": true,
+  "max_steps": null,
+  "model_recording": false,
+  "compaction": "native",
+  "transport": "sse",
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+  "usage_accounting": "reported-responses"
+}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/instruction.txt b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/instruction.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e01db1ed9688a0bf1f3e32288632359a2f72e4af
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/instruction.txt
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-hotplate-stirring
+
+Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/kinex.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/kinex.log
new file mode 100644
index 0000000000000000000000000000000000000000..63ead3a40e072808e2351f872e471f967c4f2bb7
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/kinex.log
@@ -0,0 +1 @@
+Success: stirring reached 600 rpm within ±10 rpm for one simulation second. Final judgment confirmed success. Saved reusable notes.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/provider-requests.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/provider-requests.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3865f1530901a8d41cdd29164b0da8b1019f4aea
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/provider-requests.jsonl
@@ -0,0 +1,101 @@
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/session-export.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/session-export.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc97ec3c0b8a4d2eab614df9e6ad6758eef6c4e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/session-export.json
@@ -0,0 +1 @@
+{"complete": true, "trace": "trace.json", "native": "session.jsonl", "provider_audit": "provider-requests.jsonl"}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/session.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/session.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a97544cddc1139310f95fa4269aef3e0cbe28e8a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/session.jsonl
@@ -0,0 +1,52 @@
+{"type":"session","version":3,"id":"01a1675d-5edc-7775-9963-d87ec4037d4c","timestamp":"2026-10-23T06:05:34.812Z","cwd":"/workspace"}
+{"type":"model_change","id":"0614c689","parentId":null,"timestamp":"2026-10-23T06:05:35.388Z","provider":"openai-codex","modelId":"gpt-6-astra"}
+{"type":"thinking_level_change","id":"7a19b668","parentId":"0614c689","timestamp":"2026-10-23T06:05:35.388Z","thinkingLevel":"high"}
+{"type":"message","id":"f751b009","parentId":"7a19b668","timestamp":"2026-10-23T06:05:35.519Z","message":{"role":"system","content":"","sections":{"preamble":"You are an expert coding assistant operating inside pi, a coding agent harness. 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Cached readings retain it; compare timestamps only within the same clock.\nActuator writes submit a buffer with duration_s and return {execution_id, state}: an opaque submission ID and measured state, not completion. New writes replace pending references; stop clears affected buffers. Use world.wait to pace execution.\nSpecial devices like legged bases use mode as their single state/mode selector. control.device_modes declares the available modes and transitions. control.write and the custom Use guide declare supported fields, units and frames. Omit motion fields for state-only transitions; verify measured state readiness before motion.\nkinex.devices runs calls concurrently and preserves result order, without guaranteeing simultaneous sampling or atomic effects. Never retry uncertain writes.\n</device_conventions>\n\n\n# Task-scoped setup\n\nOnboarding prepares an embodiment through an agent-authored DAG. 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Output is truncated to 1000 results or 50KB (whichever is hit first).","parameters":{"type":"object","required":["pattern"],"properties":{"pattern":{"type":"string","description":"Glob pattern to match files, e.g. '*.ts', '**/*.json', or 'src/**/*.spec.ts'"},"path":{"type":"string","description":"Directory to search in (default: current directory)"},"limit":{"type":"number","description":"Maximum number of results (default: 1000)"}}}},{"name":"ls","description":"List directory contents. Returns entries sorted alphabetically, with '/' suffix for directories. Includes dotfiles. Output is truncated to 500 entries or 50KB (whichever is hit first).","parameters":{"type":"object","properties":{"path":{"type":"string","description":"Directory to list (default: current directory)"},"limit":{"type":"number","description":"Maximum number of entries to return (default: 500)"}}}},{"name":"web_search","description":"Search the web using the current supported provider (Google Gemini, xAI Grok, OpenAI, Anthropic, DeepSeek, Ollama, or OpenCode Zen/Go). Optionally include URLs to analyze alongside search results.","parameters":{"type":"object","required":["query"],"properties":{"query":{"type":"string","description":"The search query or question to answer"},"urls":{"type":"array","items":{"type":"string"},"description":"Additional URLs to analyze along with search (up to 20)","maxItems":20}}}},{"name":"kinex_skill","description":"Load a Kinex skill from any enabled feature package, using the current skill catalog.","parameters":{"type":"object","required":["name"],"properties":{"name":{"type":"string"}}}},{"name":"calib_compute","description":"Run supported offline calibration/introspection using archived evidence. No device\nmotion or profile writes. Use an existing run ID, a plan node, or a procedure name\nwith concrete device-role bindings. First use creates an isolated attempt. Use the\nprocedure descriptor returned by setup_plan full:true for roles and computations.\nCustom procedure code runs through existing host tools, not this offline registry.\n\nResults distinguish computation, quality and exact resolved fields.\nValid computed results that miss accuracy targets may still be accepted within\nthe user's accuracy/time budget. Do not repeat calibration solely to meet those\ntargets when the user accepts the result. Preserve measured errors and the original\nquality assessment; never treat missing or invalid results as approximate estimates.\nApply accepted proposedChanges with core profile_write, preserving unrelated facts.\nProposed patches never clear calibration requests automatically. A pivot solve\nmeasures translation only; RGB-D color calibration does not measure depth facts.\nURDF introspection is offline and does not require activation. Base verification\nuses explicit measured checks and tolerances, without controller tuning.\n\nArchive manual/factory facts or external solver results as evidence for setup_plan\nrecord. Reuse valid evidence and stop as soon as the current task is supported.\n\nBase measurement files contain required_checks:[name,...] and checks:[{name,\nexpected,measured,reference,...}]. reference names the archived source or independent\nmeasurement. Numerical expected/measured values need explicit tolerance and units.\nOther assertions compare exact values. Optional timestamps must contain at least\ntwo distinct increasing sample times. Only required_checks determine coverage;\nmissing checks fail quality. Do not claim untested axes or operating 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file path, relative to invocation directory or absolute"}},"required":["operation","measurements"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"calib_sample","description":"Read one sample into an isolated .kinex/calib/<run>/samples.json. Start with a plan\nnode or procedure plus bindings; subsequent samples use the returned run ID. The\ndevice must be one of the bound participants. Inputs and participants cannot change\nwithin an attempt. Returns the new sample, run ID and count; camera attachments are\ncopied into immutable attempt artifacts, including both RGB and depth files for\nRGBD readings. Both copies must succeed before a sample is appended.\nUse note to identify the collection step. Samples\ncontain measured state and timestamps; this tool cannot command or load devices.\n\nOptional settle waits for the declared measured velocity channels to remain below\nthe threshold over distinct samples. Unsupported/malformed feedback and faults are\nerrors. Cached readings do not establish stability. A timeout after a reading saves\nthat reading with settled:false; cancellation saves nothing. Without settle, the\nsample makes no claim of stationary motion. Settling supports joint devices,\ndexterous hands and velocity devices with declared measured velocity channels.\nThis blocking sampler does not advance simulator time; arrange world waits\noutside the sampler when collecting simulation evidence.\n\nFor joint devices, optional frame computes FK from that exact sample and stores\nkinematics with pose, frame and reference_frame:null alongside the measured data.\nUse it for TCP calibration; joint-device reads contain no frame poses. FK and\nartifact capture still run after a settle timeout, subject to caller cancellation.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","description":"device to sample, e.g. arm"},"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"args":{"description":"arguments for the driver action","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"frame":{"description":"joint-device frame to compute through FK from this sample","type":"string","minLength":1},"settle":{"description":"wait for the device to stop moving before recording; omit to record immediately","type":"object","properties":{"velocity_threshold":{"default":0.005,"description":"max |joint velocity| that counts as settled","type":"number","minimum":0},"stable_reads":{"default":3,"description":"consecutive settled reads required","type":"integer","exclusiveMinimum":0,"maximum":9007199254740991},"timeout_s":{"default":30,"type":"number","exclusiveMinimum":0}}},"note":{"description":"label stored with the sample, e.g. 'touch 3, rolled +45deg'","type":"string"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device","description":"Call a named device with action (default read) and args. Its profile declares operations, units and parameters. Prefer servo for arm goals and run_policy for synchronized action chunks. Servo waits its planned duration by default. Set block=false to return immediately. Verify arrival with measured feedback.\nLoad an inactive device before use. load/unload accept no arguments; status inspects readiness without starting services. Calls enforce device permissions. Python tools cannot load or unload devices.\nResults contain data and/or a file path. Camera reads accept output=\"file\", \"base64\", or \"array\". Direct reads default to base64 and attach the RGB image with camera identity and timestamp in every mode; no file-opening call is needed. Inside Python tools, reads default to arrays; base64 returns encoded images and file returns saved paths. Resolve named device:frame references with relative_pose. World read returns time_s and optional budget {used_s,max_s}: episode time consumed and allowed in seconds, with max_s null for no cap. Budget is driver-reported information, not enforced by Kinex. world.wait(duration_s) waits on the driver clock and returns time_s and waited_s for that wait, without a budget. Actuator writes take duration_s and return immediately; use world.wait to pace control.\nverbose defaults to true; false omits empty optional feedback while preserving faults, timestamps and unknown fields. compact selects single-line JSON.\n\nPython: device(deviceID, action=\"read\", args=None) returns data fields directly, plus file when present. Use devices for concurrent calls.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"compact":{"default":false,"description":"single-line JSON output — use in polling/sampling loops","type":"boolean"},"verbose":{"default":true,"description":"keep all result fields; false omits empty optional feedback","type":"boolean"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device_stop","description":"Stop the named device, or all loaded actuators when deviceID is omitted. Stops use\neach driver's declared behavior and affected-device scope. No approval is required.\nResults report each device's acknowledgment or failure; inspect failures before resuming.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"description":"device to stop; omit to stop every loaded actuated device","type":"string"},"reason":{"description":"why the stop was triggered","type":"string"}},"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"devices","description":"Call devices concurrently with calls: [{deviceID, action?, args?}]; action defaults\nto read. Returns {results: [...]} in input order, with deviceID, action, ok and\ndata/file or error per entry. Python devices(calls) uses the same structure.\nCamera modes match device; attached images follow call order. Permissions are\nchecked before dispatch. Sampling is not simultaneous and effects are not atomic.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"calls":{"minItems":1,"type":"array","items":{"type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}}},"required":["deviceID"],"additionalProperties":false}}},"required":["calls"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"exec","description":"Run ordinary Python source or a script file with Kinex runtime access. Import device, devices, call, profile, robot, or Device from kinex. call(\"servo\", device=\"arm\", joints=target) and call(\"servo\", **params) take keyword arguments, not a positional dictionary; device(\"world\", \"wait\", {\"duration_s\": duration}) takes an argument dictionary. call composes Python tools or device/devices, not host tools. print() goes to output; finish(value, file=path_or_paths) returns JSON with one or more images in order.\n\nWhen the next decision needs images, control, wait as needed, read measured feedback, and capture selected cameras with output=\"file\" in the same script; return their paths through finish. Blocking servo already waits its planned duration; verify arrival instead of waiting it again. Printing paths does not attach images.\n\nUse bounded Python loops for feedback control, checking faults and missing feedback; call stop_owned() when ending a loop that must stop motion. Return images to the model when further control requires visual interpretation. Device lifecycle changes and recording tool calls are unavailable. Failure, timeout or cancellation stops owned motion; successful completion may leave motion running.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"description":{"description":"Short lowercase description of the task, for display","type":"string"},"python":{"description":"Python source, including multiline scripts; provide exactly one of python or file","type":"string","minLength":1},"file":{"description":"Script path, relative to the working directory or absolute","type":"string","minLength":1},"args":{"default":{},"description":"Values available through kinex.args()","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"argv":{"default":[],"description":"Script command-line arguments","type":"array","items":{"type":"string"}},"interpreter":{"description":"Python executable; defaults to the managed Kinex Python environment","type":"string","minLength":1},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":2147483}},"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"locate_object_3d","description":"[perception tool, python] Locate an object in the camera optical frame (+X right, +Y down, +Z forward) using a detection or segmentation device with RGBD or explicit optical depth. Samples only inside a supplied mask; otherwise uses the central half of the box. Returns a representative point in metres, pixel, detection_score, depth_samples, and reference (visible_surface or box_region). Box estimates may include background. rotation_xyzw is null. No mount calibration is needed; convert frames with relative_pose after constructing a full local pose with an explicit orientation.\n\nDevice input camera: rgb | rgbd (checked against the selected device).\nDevice input model: detection | segmentation (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"camera":{"type":"string","description":"rgb or rgbd camera with calibrated color intrinsics"},"model":{"type":"string","description":"detection or segmentation device serving detect(image, prompt, min_score, max_results)"},"prompt":{"type":"string","minLength":1,"description":"object description, e.g. red mug"},"depth":{"type":"number","exclusiveMinimum":0,"description":"optional optical Z in metres at the representative region pixel; otherwise use the captured RGBD depth"},"min_score":{"type":"number","minimum":0,"maximum":1,"default":0.25,"description":"minimum detection score"},"instance":{"type":"integer","minimum":0,"default":0,"description":"zero-based index after filtering and sorting by descending score; ties keep model order"}},"required":["camera","model","prompt"]}},{"name":"profile_write","description":"Persist profile facts in the workspace:\n- robot: partial manifest; identity requires id, name, platform and kind initially.\n- device: partial profile; name is required, type on first write. Use setup-device and the selected guide for new devices.\n- needed: {item,note?}; queue the reason without changing existing provenance.\n\nPatches deep-merge. To switch a strict variant, supply the complete top-level section and list it in replace (e.g. [\"intrinsics\"]). Arrays replace wholesale. null removes an optional section only when listed in replace. Changing device type replaces its profile. Invalid updates are not saved.\n\nOutstanding requests persist across reads and replacements. Clear a resolved request with needs_calibration:null in its section; the store rejects clearing incomplete facts. Unknown required facts remain ???. Set source to the origin of the data; keep diagnostics in calibration evidence.\n\nNew devices use loaded:false; activation uses the device tool (action=\"load\") or /load, not profile edits. Profiles live at .kinex/devices/<name>/profile.yaml beside the driver, using the nearest .kinex/ in the current directory or its ancestors (the current directory's .kinex/ if none exists). Validation errors identify fields and the guide to consult.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"kind":{"type":"string","enum":["robot","device","needed"]},"replace":{"default":[],"description":"Supplied top-level sections to replace instead of merge; null removes optional sections","type":"array","items":{"type":"string"}},"data":{"type":"object","propertyNames":{"type":"string"},"additionalProperties":{},"description":"partial workspace manifest patch (identity required on first write) for kind=robot, partial device patch (must include name; type on first write) for kind=device, or {item, note?} for kind=needed"}},"required":["kind","data"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"relative_pose","description":"[perception tool, python] Express a frame-attached child pose in a frame-attached parent pose. Input and returned poses are [x,y,z,qx,qy,qz,qw], metres and unit quaternion xyzw; omitted input poses are identity. Returns only pose, path and estimated_links. Resolves calibrated/live frames and optional call-local estimates; never invents missing connections or persists estimates.\n\nDevice input child.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input parent.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].child: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].parent: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"parent":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"estimates":{"type":"array","description":"Temporary frame relations; paths prefer fewer estimated edges, then fewer total edges.","items":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"string","minLength":1},"parent":{"type":"string","minLength":1},"translation_m":{"type":"array","items":{"type":"number"},"minItems":3,"maxItems":3},"rotation_xyzw":{"type":"array","items":{"type":"number"},"minItems":4,"maxItems":4}},"required":["child","parent","translation_m","rotation_xyzw"]}}},"required":["child","parent"]}},{"name":"run_policy","description":"[controller tool, python] Infer once and submit the shared valid action prefix concurrently. Returns actions_submitted, duration_s, execution_ids (device to submission ID) and ik_failure. Use max_actions to cap the execution horizon for receding horizon control. IK rejection returns normally, including an empty prefix, with diagnostic ik_failure (device, zero-based action_index, error), or null. Execution is asynchronous.\n\nDevice input model: model (checked against the selected device).\nDevice input command[].device: joint | gripper | dexterous_hand | suction (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"model":{"type":"string","description":"model device serving an \"infer\" action (obs -> action)"},"observation":{"type":"object","description":"Observation object matching the model's infer obs contract."},"inference_args":{"type":"object","description":"Additional infer arguments validated by the model operation; cannot override obs or task."},"command":{"type":"array","minItems":1,"description":"Devices in flat-vector split order; named action maps use device names. Cartesian chunks are converted through IK before any write.","items":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"joint","dexterous_hand":null,"gripper or suction device":null},"space":{"type":"string","enum":["device","pose","pose_delta"],"default":"device","description":"device: existing absolute joint/scalar values. pose: xyz + quaternion xyzw (7). pose_delta: translation metres + axis-angle rotation radians (6), accumulated from the starting pose. Cartesian modes require joint IK."},"frame":{"type":"string","description":"Cartesian reference frame, frozen at planning start; defaults to the device canonical frame. Rotation deltas left-compose in these axes."},"target_frame":{"type":"string","description":"Controlled frame, rigidly attached to the arm's kinematics.frame; defaults to that frame."}},"required":["device"]}},"task":{"type":"string","description":"task or goal handed to the model, e.g. a language instruction"},"action_hz":{"type":"number","exclusiveMinimum":0,"default":10,"description":"actions replayed per second of the device's own clock"},"max_actions":{"type":"integer","minimum":1,"description":"Execution horizon: submit at most the first N inferred actions, discarding the remainder before validation and IK. Omit to use the whole chunk. Each call infers anew from the supplied observation. IK rejection may shorten this prefix further."}},"required":["model","observation","command"]}},{"name":"servo","description":"[controller tool, python] Plan and submit a full joint trajectory for a joint device or dexterous hand. Blocks by default for the computed duration on a loaded world clock. Set block=false to return immediately. Results include device, execution_id, requested/IK-resolved target joints, computed duration_s and actions_submitted. Verify arrival with measured feedback. Later writes or stop can interrupt the plan.\n\nDevice input device: joint | dexterous_hand (checked against the selected device).\nDevice input world: world (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}},"required":["device"],"oneOf":[{"type":"object","additionalProperties":false,"required":["device","joints"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. 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Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}}]}},{"name":"setup_plan","description":"Inspect or maintain the agent-authored embodiment DAG. This is task-scoped planning,\nnever a gate on device operations. Read with full:true for the complete graph and\navailable procedure descriptors; the default shows only the current task's gaps.\nUse the returned revision for save/select/record; conflicting edits must be reread.\n\nSave version:1 nodes with IDs, kind prepare/calibrate/verify, skill, concrete device\nrole bindings, dependsOn IDs, input facts and expected output facts. A profile fact\nuses kind:profile, device (omit for workspace manifest), and JSON pointer; optional\nvalue requires an exact match. Use narrow profile pointers for both inputs and\noutputs, tracking only facts relevant to the node's conclusion. Keep volatile\nloaded/meta fields and live poses out of persistent calibration dependencies and\noutputs. File facts use paths relative to .kinex. Select a\ntask with objective, target node IDs and optional direct facts. Only the targets'\ndependency closure is required now; unrelated work stays deferred. task:null\ndefers all calibration. An empty targets list can describe a task requiring no\ncalibration. Skill descriptors list their exact roles, requirements and coverage.\n\nRecord done only after verifying persisted outputs and archiving supporting\nevidence files (paths relative to .kinex). Existing factory/model/calibration facts\ncan satisfy a node without new measurements. Partial results may satisfy a narrower\ntask: split broad nodes into independently useful outputs. Never mark deferred work\ndone or clear incomplete profile requests. Verification receipts describe evidence,\nnot safety certification. Revisions and stale evidence never prevent unrelated\noperations. Replan only relevant gaps and return to the task as soon as satisfied.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","oneOf":[{"type":"object","properties":{"action":{"type":"string","const":"read"},"full":{"default":false,"type":"boolean"}},"required":["action"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"save"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"plan":{"type":"object","properties":{"version":{"type":"number","const":1},"nodes":{"type":"array","items":{"type":"object","properties":{"id":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"title":{"type":"string","minLength":1},"kind":{"type":"string","enum":["prepare","calibrate","verify"]},"skill":{"type":"string","minLength":1},"bindings":{"default":{},"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"dependsOn":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"outputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"optional":{"default":false,"type":"boolean"}},"required":["id","title","kind","skill"],"additionalProperties":false}},"task":{"default":null,"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["version","nodes"],"additionalProperties":false}},"required":["action","revision","plan"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"select"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"task":{"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["action","revision","task"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"record"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"outcome":{"type":"object","properties":{"status":{"type":"string","enum":["done","partial","failed","needs-input"]},"note":{"type":"string","minLength":1},"evidence":{"minItems":1,"type":"array","items":{"type":"string","minLength":1}}},"required":["status","note","evidence"],"additionalProperties":false}},"required":["action","revision","node","outcome"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"skill","description":"Loads a skill by name and returns its full instructions. Skills are listed in the\n<available_skills> block of the current context; load one when its description matches the\ncurrent task, then follow its instructions.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"name":{"type":"string","description":"name of the skill to load"}},"required":["name"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"question","description":"Ask the user for missing facts or choices.","parameters":{"type":"object","required":["questions"],"properties":{"questions":{"type":"array","items":{"type":"object","required":["header","question","options"],"properties":{"header":{"type":"string"},"question":{"type":"string"},"options":{"type":"array","items":{"type":"object","required":["label"],"properties":{"label":{"type":"string"},"description":{"type":"string"}}}},"multiple":{"type":"boolean"}}}}}}}]}}
+{"type":"message","id":"24e2801f","parentId":"f751b009","timestamp":"2026-10-23T06:05:35.519Z","message":{"role":"user","content":[{"type":"text","text":"# Task: isaaclab/chemlab-hotplate-stirring\n\nPower on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}],"timestamp":1792735535516}}
+{"type":"custom_message","customType":"kinex-context","content":"<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-b3a8f950d7e749d5b4afa03b852e422a/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>","display":false,"details":{"core.conventions":"<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>","core.guides":"Device guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-b3a8f950d7e749d5b4afa03b852e422a/config/device, /opt/kinex/packages/core/assets/builtin/device.","core.python":"{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}","core.recording":"","core.skills":"<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>","problems":""},"id":"0564d908","parentId":"24e2801f","timestamp":"2026-10-23T06:05:35.520Z"}
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{\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"degC\",\"value\":null},\n    \"display.speed\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"rpm\",\"value\":null},\n    \"display.temperature\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"degC\",\"value\":null},\n    \"display.timer\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"\"},\n    \"display.visc_trend\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"%\",\"value\":null},\n    \"error.code\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\n    \"heating.control\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"plate\"},\n    \"heating.on\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"heating.set_k\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"K\",\"value\":298.15},\n    \"indicator.beep\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.heating\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.hot\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.lock\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.motor\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.sensor\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.standby\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\n    \"interface.state\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"connected\":false,\"watchdog_mode\":0,\"watchdog_s\":null,\"wd2_active\":false,\"wd_speed_rpm\":null,\"wd_temperature_k\":null}},\n    \"lock.on\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"menu.state\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"beep\":true,\"display\":\"safe\",\"err5_timeout_s\":0,\"expiry_stop_heating\":false,\"expiry_stop_stirring\":false,\"operating_mode\":\"A\",\"unit\":\"C\"}},\n    \"plant.configured\": 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\"properties\": {\"command\": {\"maxLength\": 80, \"type\": \"string\"}}, \"required\": [\"command\"], \"title\": \"namur.send\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_poll\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"lcd\", \"standby_led\", \"hot_lamp\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"temp_push_key\", \"speed_push_key\", \"menu_key\", \"timer_key\", \"lock_key\", \"knob_temperature\", \"knob_speed\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_switch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"input_id\": {\"enum\": [\"power_switch\"], \"type\": \"string\"}, \"position\": {\"enum\": [\"off\", \"on\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"position\"], \"title\": \"panel.switch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_turn\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"detents\": {\"maximum\": 1000, \"minimum\": -1000, \"type\": \"integer\", \"x-unit\": \"1\"}, \"input_id\": {\"enum\": [\"knob_temperature\", \"knob_speed\", \"safety_screw\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"detents\"], \"title\": \"panel.turn\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"ph_measure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"ph.measure\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"power_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"power.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"power_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"power.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"program_run\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"program.run\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"safety_set_limit\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"limit_k\": {\"maximum\": 643.15, \"minimum\": 323.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"limit_k\"], \"title\": \"safety.set_limit\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_calibrate_two_point\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"device_1_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"device_2_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"reference_1_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"reference_2_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"device_1_k\", \"reference_1_k\", \"device_2_k\", \"reference_2_k\"], \"title\": \"sensor.calibrate_two_point\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_reset_calibration\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sensor.reset_calibration\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"connected\": {\"type\": \"boolean\"}, \"immersed\": {\"type\": \"boolean\"}}, \"required\": [\"connected\", \"immersed\"], \"title\": \"sensor.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"stirbar_detect_break\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"stirbar.detect_break\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"stirring_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"auto_reverse\": {\"type\": \"boolean\"}, \"direction\": {\"enum\": [\"cw\", \"ccw\"], \"type\": \"string\"}, \"pause_s\": {\"maximum\": 300.0, \"minimum\": 3.0, \"type\": \"number\", \"x-unit\": \"s\"}, \"run_s\": {\"maximum\": 600.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"stirring.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"stirring.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_set_speed\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"speed_rad_s\": {\"maximum\": 157.07963267948966, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"rad/s\"}}, \"required\": [\"speed_rad_s\"], \"title\": \"stirring.set_speed\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"stirring.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_clear\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"timer.clear\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 8636400.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [\"duration_s\"], \"title\": \"timer.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"timer.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"vessel_place\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"initial_k\": {\"maximum\": 400.0, \"minimum\": 250.0, \"type\": \"number\", \"x-unit\": \"K\"}, \"stir_bar_length_m\": {\"maximum\": 0.08, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"m\"}, \"substance_id\": {\"enum\": [\"acetic_acid\", \"acetic_anhydride\", \"acetone\", \"acetonitrile\", \"aniline\", \"benzaldehyde\", \"benzene\", \"benzyl_alcohol\", \"butan_1_ol\", \"butanoic_acid\", \"butanone\", \"butyl_acetate\", \"carbon_tetrachloride\", \"chlorobenzene\", \"chloroform\", \"cyclohexane\", \"cyclohexanone\", \"decane\", \"dichloroethane_1_2\", \"dichloromethane\", \"diethyl_ether\", \"dmf\", \"dmso\", \"ethanol\", \"ethyl_acetate\", \"ethyl_butanoate\", \"ethylbenzene\", \"ethylene_glycol\", \"formic_acid\", \"hexan_1_ol\", \"hexane\", \"isobutanol\", \"m_xylene\", \"methanol\", \"methyl_acetate\", \"methyl_formate\", \"nitrobenzene\", \"nonane\", \"o_xylene\", \"octan_1_ol\", \"octane\", \"p_xylene\", \"pentane\", \"propan_1_ol\", \"propan_2_ol\", \"propyl_acetate\", \"styrene\", \"tetrahydrofuran\", \"toluene\", \"triethylamine\", \"water\"], \"type\": \"string\"}, \"vessel\": {\"enum\": [\"beaker_250ml\", \"beaker_600ml\", \"h1000\", \"h1500\", \"h3000\", \"h5000\", \"metal_pot_2l\"], \"type\": \"string\"}, \"volume_m3\": {\"maximum\": 0.005, \"minimum\": 1e-06, \"type\": \"number\", \"x-unit\": \"m3\"}}, \"required\": [\"vessel\", \"substance_id\", \"volume_m3\"], \"title\": \"vessel.place\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"vessel_remove\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"vessel.remove\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"viscosity_reset\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"viscosity.reset\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"weighing_tare\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"weighing.tare\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"instrument\", \"profile\": \"devices/instrument/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {\"calibrated_at\": null, \"method\": \"manual\", \"mount\": {\"parent\": \"world\", \"parent_frame\": \"world\", \"rotation_xyzw\": [0, 0, 0, 1], \"translation_m\": [0, 0, 0]}, \"source\": \"user\"}, \"implementation\": \"ChemLab instrument interface\", \"intrinsics\": {\"instrument\": {\"asset_id\": \"instrument.ika_plate_rctdigital\", \"catalog_id\": \"CHEM-008\", \"domain\": \"Basic Metrology & Sample Handling\", \"manufacturer\": \"IKA\", \"model\": \"Plate RCT digital\", \"name\": \"Magnetic hotplate stirrer\", \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\", \"size_m\": [0.16, 0.27, 0.0849], \"state_slots\": {\"clock.time_s\": {\"unit\": \"s\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"s\"}}, \"display.message\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.safe_temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.set_speed\": {\"unit\": \"rpm\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"rpm\"}, {\"type\": \"null\"}]}}, \"display.set_temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.speed\": {\"unit\": \"rpm\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"rpm\"}, {\"type\": \"null\"}]}}, \"display.temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.timer\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.visc_trend\": {\"unit\": \"%\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"%\"}, {\"type\": \"null\"}]}}, \"error.code\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maximum\": 99, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"heating.control\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"plate\", \"pid\", \"2p\"], \"type\": \"string\"}}, \"heating.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"heating.set_k\": {\"unit\": \"K\", \"value_schema\": {\"maximum\": 583.15, \"minimum\": 273.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"indicator.beep\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.heating\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.hot\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.lock\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.motor\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.sensor\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.standby\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"interface.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"lock.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"menu.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"plant.configured\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"power.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"safety.limit_k\": {\"unit\": \"K\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"K\"}}, \"sensor.calibration\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"sensor.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"stirring.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"stirring.pattern\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"stirring.set_rad_s\": {\"unit\": \"rad/s\", \"value_schema\": {\"maximum\": 157.07963267948966, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"rad/s\"}}, \"timer.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"vessel.state\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}\n"}],"isError":false,"durationMs":229,"timestamp":1792735574495}}
+{"type":"message","id":"b9a8dbd3","parentId":"23b41db7","timestamp":"2026-10-23T06:06:16.895Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_07015f0135a94d06818d0ecc0d285fcf|fc_0bb441edaef86823016adaf9588ef8819cb7c5ea6b8d81560d","name":"device","arguments":{"deviceID":"instrument","action":"power_set","args":{"on":true}}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":4673,"output":29,"cacheRead":17408,"cacheWrite":0,"reasoning":0,"totalTokens":22110,"cost":{"input":0.04673,"output":0.0014500000000000001,"cacheRead":0.017408,"cacheWrite":0,"total":0.06558800000000001}},"stopReason":"toolUse","timestamp":1792735574526,"responseId":"resp_0bb441edaef86823016adaf956d724819c94329256fd018401","rawStopReason":"completed","durationMs":2370,"thinkingLevel":"high"}}
+{"type":"message","id":"47eeb0ae","parentId":"b9a8dbd3","timestamp":"2026-10-23T06:06:16.994Z","message":{"role":"toolResult","toolCallId":"call_07015f0135a94d06818d0ecc0d285fcf|fc_0bb441edaef86823016adaf9588ef8819cb7c5ea6b8d81560d","toolName":"device","content":[{"type":"text","text":"{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 47.2\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1425\",\n  \"result\": {\n    \"on\": true\n  },\n  \"state_revision\": 3,\n  \"status\": \"succeeded\"\n}"}],"details":{"kinex":{"title":"power_set on instrument"}},"isError":false,"durationMs":98,"timestamp":1792735576994}}
+{"type":"message","id":"bd2d8c37","parentId":"47eeb0ae","timestamp":"2026-10-23T06:06:20.773Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_de0afe56338349fe9dee430d7cf4c96c|fc_0bb441edaef86823016adaf95c3afc819c9c792d6b2f0bbb08","name":"device","arguments":{"deviceID":"instrument","action":"stirring_set_speed","args":{"speed_rad_s":62.831853}}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":211,"output":37,"cacheRead":22016,"cacheWrite":0,"reasoning":0,"totalTokens":22264,"cost":{"input":0.0021100000000000003,"output":0.00185,"cacheRead":0.022015999999999997,"cacheWrite":0,"total":0.025976}},"stopReason":"toolUse","timestamp":1792735577029,"responseId":"resp_0bb441edaef86823016adaf959551c819ca7774759ef89ea80","rawStopReason":"completed","durationMs":3744,"thinkingLevel":"high"}}
+{"type":"message","id":"c1ae5f84","parentId":"bd2d8c37","timestamp":"2026-10-23T06:06:20.969Z","message":{"role":"toolResult","toolCallId":"call_de0afe56338349fe9dee430d7cf4c96c|fc_0bb441edaef86823016adaf95c3afc819c9c792d6b2f0bbb08","toolName":"device","content":[{"type":"text","text":"{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 50.8\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1537\",\n  \"result\": {\n    \"speed_rad_s\": 62.83185307179586\n  },\n  \"state_revision\": 4,\n  \"status\": \"succeeded\"\n}"}],"details":{"kinex":{"title":"stirring_set_speed on instrument"}},"isError":false,"durationMs":195,"timestamp":1792735580969}}
+{"type":"message","id":"3f02806d","parentId":"c1ae5f84","timestamp":"2026-10-23T06:06:24.508Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_933d2d6109044124b5cf7435e61a1fb0|fc_0bb441edaef86823016adaf95fe568819c83db2ba9e011776e","name":"device","arguments":{"deviceID":"instrument","action":"stirring_set","args":{"on":true}}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":246,"output":31,"cacheRead":22144,"cacheWrite":0,"reasoning":0,"totalTokens":22421,"cost":{"input":0.0024600000000000004,"output":0.0015500000000000002,"cacheRead":0.022144,"cacheWrite":0,"total":0.026154}},"stopReason":"toolUse","timestamp":1792735581013,"responseId":"resp_0bb441edaef86823016adaf95d4adc819c9a4f100e2605a3d2","rawStopReason":"completed","durationMs":3495,"thinkingLevel":"high"}}
+{"type":"message","id":"f906653a","parentId":"3f02806d","timestamp":"2026-10-23T06:06:24.610Z","message":{"role":"toolResult","toolCallId":"call_933d2d6109044124b5cf7435e61a1fb0|fc_0bb441edaef86823016adaf95fe568819c83db2ba9e011776e","toolName":"device","content":[{"type":"text","text":"{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 54.1\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1640\",\n  \"result\": {\n    \"on\": true\n  },\n  \"state_revision\": 5,\n  \"status\": \"succeeded\"\n}"}],"details":{"kinex":{"title":"stirring_set on instrument"}},"isError":false,"durationMs":101,"timestamp":1792735584610}}
+{"type":"message","id":"d71f3a2f","parentId":"f906653a","timestamp":"2026-10-23T06:06:31.662Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_6d6f2835083d4d08ba1c2f584edf3c9d|fc_0bb441edaef86823016adaf96263e0819ca672a5a6d1f37d02","name":"exec","arguments":{"description":"verify displayed stirring speed dwell","python":"from kinex import device\nstart = None\nsamples = []\nfor _ in range(80):\n    obs = device('instrument')['observations']\n    if obs['error.code']['value'] is not None:\n        raise RuntimeError('Instrument fault: '+str(obs['error.code']['value']))\n    s = obs['display.speed']\n    t, rpm = s['sample_time_s'], s['value']\n    good = (s['quality'] in ('valid', 'estimated') and rpm is not None and abs(rpm-600)<=10 and obs['power.on']['value'] and obs['stirring.on']['value'])\n    samples.append({'time_s':t,'rpm':rpm})\n    start = (t if start is None else start) if good else None\n    if start is not None and t-start >= 1.0:\n        print({'verified':True,'duration_s':t-start,'samples':samples})\n        break\n    device('world','wait',{'duration_s':0.2})\nelse:\n    raise RuntimeError('Speed did not stabilize within bounded polling window')"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":266,"output":272,"cacheRead":22272,"cacheWrite":0,"reasoning":0,"totalTokens":22810,"cost":{"input":0.00266,"output":0.013600000000000001,"cacheRead":0.022272,"cacheWrite":0,"total":0.038532}},"stopReason":"toolUse","timestamp":1792735584652,"responseId":"resp_0bb441edaef86823016adaf960ef08819c94f1c86efb95aecb","rawStopReason":"completed","durationMs":7010,"thinkingLevel":"high"}}
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+{"type":"message","id":"6848d6f4","parentId":"e4ac7ac6","timestamp":"2026-10-23T06:06:36.984Z","message":{"role":"toolResult","toolCallId":"call_613d0a79d1cf4ebd96ed352ff1f3351c|fc_0bb441edaef86823016adaf96cb6f4819c9e7367cfa1978ab4","toolName":"bash","content":[{"type":"text","text":"{\"device_service\": {\"contract\": \"roboenv/devices/1\", \"ready\": true}, \"endpoint\": \"http://127.0.0.1:8123\", \"generation\": 0, \"protocol\": \"roboenv/1\", \"session\": \"e0137f74fdea8453\", \"supervisor\": \"ok\", \"worker\": {\"alive\": true, \"state\": \"ready\"}, \"simulation\": {\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 558}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"schema\": \"roboenv/simulation-status/1\", \"session\": \"e0137f74fdea8453\", \"simulation_time_s\": null, \"state\": \"terminal\", \"terminal\": true}}\n"}],"isError":false,"durationMs":160,"timestamp":1792735596984}}
+{"type":"message","id":"ea9bcccd","parentId":"6848d6f4","timestamp":"2026-10-23T06:06:39.436Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_ee65f41465c240e38bf2e788a50c5487|fc_0bb441edaef86823016adaf96ef6d8819c8fe6df08c225a8a6","name":"bash","arguments":{"command":"roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json","timeout":30}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":324,"output":35,"cacheRead":22784,"cacheWrite":0,"reasoning":0,"totalTokens":23143,"cost":{"input":0.0032400000000000003,"output":0.00175,"cacheRead":0.022784,"cacheWrite":0,"total":0.027774}},"stopReason":"toolUse","timestamp":1792735597019,"responseId":"resp_0bb441edaef86823016adaf96d557c819ca01497defb89d3c3","rawStopReason":"completed","durationMs":2417,"thinkingLevel":"high"}}
+{"type":"message","id":"069d3170","parentId":"ea9bcccd","timestamp":"2026-10-23T06:06:41.716Z","message":{"role":"toolResult","toolCallId":"call_ee65f41465c240e38bf2e788a50c5487|fc_0bb441edaef86823016adaf96ef6d8819c8fe6df08c225a8a6","toolName":"bash","content":[{"type":"text","text":"{\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 558}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"reason\": \"success\", \"schema\": \"roboenv/simulation-status/1\", \"service_state\": \"stopped\", \"session\": \"e0137f74fdea8453\", \"simulation_time_s\": null, \"state\": \"terminal\", \"success\": true, \"terminal\": true}\n"}],"isError":false,"durationMs":2279,"timestamp":1792735601716}}
+{"type":"message","id":"0a870e4f","parentId":"069d3170","timestamp":"2026-10-23T06:06:59.790Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_daff812475db4577a6d56293c9208d40|fc_0bb441edaef86823016adaf973ddbc819c8a89c9d64344afc3","name":"write","arguments":{"path":".kinex/memos/chemlab-hotplate.md","content":"# ChemLab hotplate stirring\n\n- Inspect current task with `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"`; action schemas are available via `roboenv devices --name instrument --endpoint \"$ROBOENV_ENDPOINT\"` (profiles list actions but not their arguments).\n- Use Kinex instrument reads/commands. Read first; then `power_set({on:true})`, `stirring_set_speed({speed_rad_s:62.831853})`, `stirring_set({on:true})` for 600 rpm. These are sequential synchronous operations; successful results report status `succeeded`. Speed may quantize to 62.83185307179586 rad/s.\n- Feedback is `observations` keyed by `display.speed` (rpm), `power.on`, `stirring.on`, `error.code`. Each slot includes value, quality and sample_time_s. Require displayed speed within target tolerance over the requested simulation-time dwell, not just accepted commands. Poll with small world waits; reset dwell on out-of-band samples. No heating or vessel manipulation needed for the basic stirring task.\n- Realtime simulation advances between calls and may automatically become terminal before polling finishes. `Episode finished` from world.wait is not proof of failure: inspect `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json`, then finalize/retrieve judgment with `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json`. Never reset/retry a terminal attempt. Status has no success judgment; stop does.\n- This sequence was confirmed successful for the 600 rpm / ±10 rpm / one simulation-second task by final judgment, despite world.wait reporting episode_finished during verification.\n"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":222,"output":380,"cacheRead":23040,"cacheWrite":0,"reasoning":0,"totalTokens":23642,"cost":{"input":0.00222,"output":0.019,"cacheRead":0.023039999999999998,"cacheWrite":0,"total":0.044259999999999994}},"stopReason":"toolUse","timestamp":1792735601753,"responseId":"resp_0bb441edaef86823016adaf9720e44819c8640ec067247e901","rawStopReason":"completed","durationMs":18037,"thinkingLevel":"high"}}
+{"type":"message","id":"3daddb76","parentId":"0a870e4f","timestamp":"2026-10-23T06:06:59.794Z","message":{"role":"toolResult","toolCallId":"call_daff812475db4577a6d56293c9208d40|fc_0bb441edaef86823016adaf973ddbc819c8a89c9d64344afc3","toolName":"write","content":[{"type":"text","text":"Successfully wrote to .kinex/memos/chemlab-hotplate.md"}],"isError":false,"durationMs":3,"timestamp":1792735619794}}
+{"type":"message","id":"47018f37","parentId":"3daddb76","timestamp":"2026-10-23T06:07:03.189Z","message":{"role":"assistant","content":[{"type":"text","text":"Success: stirring reached 600 rpm within ±10 rpm for one simulation second. Final judgment confirmed success. Saved reusable notes.","textSignature":"{\"v\":1,\"id\":\"msg_0bb441edaef86823016adaf985d7fc819ca7ce5fe04c6eef09\",\"phase\":\"final_answer\"}"}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":115,"output":29,"cacheRead":23552,"cacheWrite":0,"reasoning":0,"totalTokens":23696,"cost":{"input":0.0011500000000000002,"output":0.0014500000000000001,"cacheRead":0.023552,"cacheWrite":0,"total":0.026152}},"stopReason":"stop","timestamp":1792735619851,"responseId":"resp_0bb441edaef86823016adaf984282c819cb88e0c20c36c0921","rawStopReason":"completed","durationMs":3338,"thinkingLevel":"high"}}
+{"type":"custom","customType":"kinex-active-time","data":{"milliseconds":87738.00017},"id":"d4a2be02","parentId":"47018f37","timestamp":"2026-10-23T06:07:03.257Z"}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/trace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/trace.json
new file mode 100644
index 0000000000000000000000000000000000000000..813dfceb40c605fea3eddfe41759d593ce3e93d7
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/trace.json
@@ -0,0 +1 @@
+{"schema": "rlebench/kinex-trace/1", "source": "Pi native session", "usage_source": "pi-normalized", "cache_coverage": "normalized-values", "reasoning_coverage": "normalized-values", "info": {"type": "session", "version": 3, "id": "01a1675d-5edc-7775-9963-d87ec4037d4c", "timestamp": "2026-10-23T06:05:34.812Z", "cwd": "/workspace"}, "messages": [{"id": "f751b009", "role": "system", "timestamp": "2026-10-23T06:05:35.519Z", "parts": [{"type": "text", "text": ""}]}, {"id": "24e2801f", "role": "user", "timestamp": "2026-10-23T06:05:35.519Z", "parts": [{"type": "text", "text": "# Task: isaaclab/chemlab-hotplate-stirring\n\nPower on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}]}, {"id": "0564d908", "role": "context", "timestamp": "2026-10-23T06:05:35.520Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-b3a8f950d7e749d5b4afa03b852e422a/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>"}], "context": true}, {"id": "82e7ee26", "role": "assistant", "timestamp": "2026-10-23T06:05:38.260Z", "parts": [{"type": "tool", "callID": "call_339a0c22844548699750b7e0936cb517|fc_0bb441edaef86823016adaf9314ef0819ca26b50b9483d0920", "name": "bash", "input": {"command": "roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"", "timeout": 30}, "output": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"e0137f74fdea8453\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-hotplate-stirring\", \"instruction\": \"Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\", \"native_instruction\": \"\"}}\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12441, "outputTokens": 33, "cachedInputTokens": 0, "cacheReportedInputTokens": 12441, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12441, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 33}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "5768e78f", "role": "toolResult", "timestamp": "2026-10-23T06:05:38.455Z", "parts": [{"type": "text", "text": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"e0137f74fdea8453\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-hotplate-stirring\", \"instruction\": \"Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\", \"native_instruction\": \"\"}}\n"}]}, {"id": "3f99d3a1", "role": "context", "timestamp": "2026-10-23T06:05:38.497Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n</kinex_context>"}], "context": true}, {"id": "32f63d85", "role": "assistant", "timestamp": "2026-10-23T06:05:41.381Z", "parts": [{"type": "tool", "callID": "call_a0de4f0f3c9b4a9b849cd26006644337|fc_0bb441edaef86823016adaf93486a8819cb4183d1d95642e39", "name": "ls", "input": {"path": ".kinex"}, "output": "devices/\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12673, "outputTokens": 20, "cachedInputTokens": 12288, "cacheReportedInputTokens": 12673, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12673, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 20}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "43c78ef5", "role": "toolResult", "timestamp": "2026-10-23T06:05:41.386Z", "parts": [{"type": "text", "text": "devices/\nmemos/\npython/\nskills/\ntools/\nworkspace.yaml"}]}, {"id": "b31ece54", "role": "assistant", "timestamp": "2026-10-23T06:05:47.191Z", "parts": [{"type": "tool", "callID": "call_3598e090e8a648b4b094192879970ab5|fc_0bb441edaef86823016adaf937b20c819ca8266a0592bf0fba", "name": "read", "input": {"path": ".kinex/devices/instrument/profile.yaml", "offset": null, "limit": null}, "output": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T06:05:33.308196+00:00'\n  updated_at: '2026-10-23T06:05:33.308196+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - events_read\n    - heating_set\n    - heating_set_mode\n    - heating_set_temperature\n    - heating_toggle\n    - interface_set\n    - load\n    - lock_toggle\n    - menu_configure\n    - namur_send\n    - operation_cancel\n    - operation_poll\n    - panel_capture\n    - panel_press\n    - panel_switch\n    - panel_turn\n    - power_set\n    - power_toggle\n    - read\n    - safety_set_limit\n    - sensor_calibrate_two_point\n    - sensor_reset_calibration\n    - sensor_set\n    - status\n    - stirring_configure\n    - stirring_set\n    - stirring_set_speed\n    - stirring_toggle\n    - timer_clear\n    - timer_set\n    - timer_toggle\n    - unload\n    - vessel_place\n    - vessel_remove\n    - viscosity_reset\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_28bc99e6f7ae4167b96f0de1f6e45304|fc_0bb441edaef86823016adaf93b180c819c9cc4fc0f9887fc12", "name": "read", "input": {"path": ".kinex/devices/world/profile.yaml", "offset": null, "limit": null}, "output": "name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T06:05:33.312763+00:00'\n  updated_at: '2026-10-23T06:05:33.312763+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_c982efadd40d4a0d9846ffad7ef378c3|fc_0bb441edaef86823016adaf93b180c819cbc1c2cbb2c4aa44b", "name": "read", "input": {"path": ".kinex/workspace.yaml", "offset": null, "limit": null}, "output": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_e997682956f94e318b8af0e3d5b18453|fc_0bb441edaef86823016adaf93b180c819c8a4ccf29828a1efc", "name": "find", "input": {"pattern": "**/*", "path": ".kinex/memos"}, "output": "No files found matching pattern", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_8e2ab7b787014fa69af13619788d7231|fc_0bb441edaef86823016adaf93b180c819c9a10b1d936d36732", "name": "find", "input": {"pattern": "**/*", "path": ".kinex/tools"}, "output": "No files found matching pattern", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_33bbc0f73b40433f81e50f436ed57514|fc_0bb441edaef86823016adaf93b180c819c9e350ee717fdd3a2", "name": "find", "input": {"pattern": "**/*", "path": ".kinex/skills"}, "output": "No files found matching pattern", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12717, "outputTokens": 168, "cachedInputTokens": 12544, "cacheReportedInputTokens": 12717, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12717, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 168}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "f06f0e2b", "role": "toolResult", "timestamp": "2026-10-23T06:05:47.250Z", "parts": [{"type": "text", "text": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T06:05:33.308196+00:00'\n  updated_at: '2026-10-23T06:05:33.308196+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - events_read\n    - heating_set\n    - heating_set_mode\n    - heating_set_temperature\n    - heating_toggle\n    - interface_set\n    - load\n    - lock_toggle\n    - menu_configure\n    - namur_send\n    - operation_cancel\n    - operation_poll\n    - panel_capture\n    - panel_press\n    - panel_switch\n    - panel_turn\n    - power_set\n    - power_toggle\n    - read\n    - safety_set_limit\n    - sensor_calibrate_two_point\n    - sensor_reset_calibration\n    - sensor_set\n    - status\n    - stirring_configure\n    - stirring_set\n    - stirring_set_speed\n    - stirring_toggle\n    - timer_clear\n    - timer_set\n    - timer_toggle\n    - unload\n    - vessel_place\n    - vessel_remove\n    - viscosity_reset\n"}]}, {"id": "6b722f98", "role": "toolResult", "timestamp": "2026-10-23T06:05:47.250Z", "parts": [{"type": "text", "text": "name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T06:05:33.312763+00:00'\n  updated_at: '2026-10-23T06:05:33.312763+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n"}]}, {"id": "a4efbe6b", "role": "toolResult", "timestamp": "2026-10-23T06:05:47.250Z", "parts": [{"type": "text", "text": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n"}]}, {"id": "0cdcd342", "role": "toolResult", "timestamp": "2026-10-23T06:05:47.250Z", "parts": [{"type": "text", "text": "No files found matching pattern"}]}, {"id": "5bc42358", "role": "toolResult", "timestamp": "2026-10-23T06:05:47.251Z", "parts": [{"type": "text", "text": "No files found matching pattern"}]}, {"id": "f4d84bea", "role": "toolResult", "timestamp": "2026-10-23T06:05:47.251Z", "parts": [{"type": "text", "text": "No files found matching pattern"}]}, {"id": "4ec96e68", "role": "assistant", "timestamp": "2026-10-23T06:05:49.976Z", "parts": [{"type": "tool", "callID": "call_ce9767cb283647f8a35bedcef47d0ece|fc_0bb441edaef86823016adaf93d4404819ca4c196dbc57d996f", "name": "ls", "input": {"path": ".kinex/devices/instrument"}, "output": "connection.json\ndriver.py\nintrinsics.json\nprofile.yaml", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13654, "outputTokens": 24, "cachedInputTokens": 12800, "cacheReportedInputTokens": 13654, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13654, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 24}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "cb490ea9", "role": "toolResult", "timestamp": "2026-10-23T06:05:49.980Z", "parts": [{"type": "text", "text": "connection.json\ndriver.py\nintrinsics.json\nprofile.yaml"}]}, {"id": "6be37969", "role": "assistant", "timestamp": "2026-10-23T06:05:53.535Z", "parts": [{"type": "tool", "callID": "call_9ec066dae213448ea7163be6be9db356|fc_0bb441edaef86823016adaf94059cc819cae656bb2473a775b", "name": "read", "input": {"path": ".kinex/devices/instrument/driver.py", "offset": null, "limit": null}, "output": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13701, "outputTokens": 34, "cachedInputTokens": 13568, "cacheReportedInputTokens": 13701, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13701, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 34}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "58d697f2", "role": "toolResult", "timestamp": "2026-10-23T06:05:53.539Z", "parts": [{"type": "text", "text": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n"}]}, {"id": "6d44fcd7", "role": "assistant", "timestamp": "2026-10-23T06:05:56.027Z", "parts": [{"type": "tool", "callID": "call_89ea0bb694164d40a1927e3466eb6101|fc_0bb441edaef86823016adaf943b61c819c9f0fa05f31511a6c", "name": "device", "input": {"deviceID": "instrument", "action": "read"}, "output": "{\n  \"observations\": {\n    \"clock.time_s\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"s\",\"value\":26.4},\n    \"display.message\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"\"},\n    \"display.safe_temperature\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"degC\",\"value\":null},\n    \"display.set_speed\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"rpm\",\"value\":null},\n    \"display.set_temperature\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"degC\",\"value\":null},\n    \"display.speed\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"rpm\",\"value\":null},\n    \"display.temperature\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"degC\",\"value\":null},\n    \"display.timer\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"\"},\n    \"display.visc_trend\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"%\",\"value\":null},\n    \"error.code\": {\"quality\":\"unavailable\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":null},\n    \"heating.control\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":\"plate\"},\n    \"heating.on\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"heating.set_k\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"K\",\"value\":298.15},\n    \"indicator.beep\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.heating\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.hot\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.lock\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.motor\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.sensor\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"indicator.standby\": {\"quality\":\"estimated\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\n    \"interface.state\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"connected\":false,\"watchdog_mode\":0,\"watchdog_s\":null,\"wd2_active\":false,\"wd_speed_rpm\":null,\"wd_temperature_k\":null}},\n    \"lock.on\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"menu.state\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"beep\":true,\"display\":\"safe\",\"err5_timeout_s\":0,\"expiry_stop_heating\":false,\"expiry_stop_stirring\":false,\"operating_mode\":\"A\",\"unit\":\"C\"}},\n    \"plant.configured\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":true},\n    \"power.on\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"safety.limit_k\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"K\",\"value\":643.15},\n    \"sensor.calibration\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"calibrated\":false,\"gain\":1,\"offset_k\":0,\"points_k\":null}},\n    \"sensor.state\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"connected\":false,\"immersed\":false}},\n    \"stirring.on\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":false},\n    \"stirring.pattern\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"1\",\"value\":{\"auto_reverse\":false,\"direction\":\"cw\",\"intermittent\":false,\"pause_s\":3,\"run_s\":0}},\n    \"stirring.set_rad_s\": {\"quality\":\"valid\",\"sample_time_s\":26.4,\"sample_window_s\":null,\"unit\":\"rad/s\",\"value\":0},\n    \"timer.state\": 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status              Inspect a running environment\n    stop                Finalize a selected simulation or stop a locally owned\n                        environment\n    robots              Browse available robot/device configurations\n\noptions:\n  -h, --help            show this help message and exit\nusage: roboenv describe [-h] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 16989, "outputTokens": 32, "cachedInputTokens": 16768, "cacheReportedInputTokens": 16989, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 16989, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 32}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "3718935a", "role": "toolResult", "timestamp": "2026-10-23T06:06:09.266Z", "parts": [{"type": "text", "text": "usage: roboenv [-h]\n               {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n               ...\n\nAgent-neutral command line for the environment contract.\n\npositional arguments:\n  {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n    doctor              Explain simulator readiness and next steps\n    launch              Start a task and wait for its devices\n    prepare             Install or reuse one isolated simulator environment\n    setup               Export a robot into the current workspace's .kinex\n                        directory\n    status              Inspect a running environment\n    stop                Finalize a selected simulation or stop a locally owned\n                        environment\n    robots              Browse available robot/device configurations\n\noptions:\n  -h, --help            show this help message and exit\nusage: roboenv describe [-h] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n"}]}, {"id": "969692a3", "role": "assistant", "timestamp": "2026-10-23T06:06:11.449Z", "parts": [{"type": "tool", "callID": "call_24175d1dca6a4ac3a60541e0565ee1d6|fc_0bb441edaef86823016adaf952f854819cbc4231c39a1c5b84", "name": "bash", "input": {"command": "roboenv devices --help && roboenv device --help", "timeout": 30}, "output": "usage: roboenv devices [-h] [--name NAME] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --name NAME          Describe one device\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\nusage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 17291, "outputTokens": 33, "cachedInputTokens": 16896, "cacheReportedInputTokens": 17291, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 17291, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 33}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "604c946e", "role": "toolResult", "timestamp": "2026-10-23T06:06:11.603Z", "parts": [{"type": "text", "text": "usage: roboenv devices [-h] [--name NAME] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --name NAME          Describe one device\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\nusage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\n"}]}, {"id": "89868399", "role": "assistant", "timestamp": "2026-10-23T06:06:14.265Z", "parts": [{"type": "tool", "callID": "call_ada48a7f42324b9b89798b050660a032|fc_0bb441edaef86823016adaf955c79c819cb626a07cbb0d82f0", "name": "bash", "input": {"command": "roboenv devices --name instrument --endpoint \"$ROBOENV_ENDPOINT\"", "timeout": 30}, "output": "{\"actions\": {\"events_read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"since_s\": {\"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"events.read\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"heating.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_set_mode\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"mode\": {\"enum\": [\"pid\", \"2p\"], \"type\": \"string\"}}, \"required\": [\"mode\"], \"title\": \"heating.set_mode\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_set_temperature\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"temperature_k\": {\"maximum\": 583.15, \"minimum\": 273.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"temperature_k\"], \"title\": \"heating.set_temperature\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"heating.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"interface_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"connected\": {\"type\": \"boolean\"}}, \"required\": [\"connected\"], \"title\": \"interface.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"lock_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"lock.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"menu_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"beep\": {\"type\": \"boolean\"}, \"display\": {\"enum\": [\"safe\", \"visc\"], \"type\": \"string\"}, \"err5_timeout_s\": {\"maximum\": 1800.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}, \"expiry_stop_heating\": {\"type\": \"boolean\"}, \"expiry_stop_stirring\": {\"type\": \"boolean\"}, \"operating_mode\": {\"enum\": [\"A\", \"B\", \"D\"], \"type\": \"string\"}, \"unit\": {\"enum\": [\"C\", \"F\"], \"type\": \"string\"}}, \"required\": [], \"title\": \"menu.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"namur_send\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"command\": {\"maxLength\": 80, \"type\": \"string\"}}, \"required\": [\"command\"], \"title\": \"namur.send\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_poll\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"lcd\", \"standby_led\", \"hot_lamp\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"temp_push_key\", \"speed_push_key\", \"menu_key\", \"timer_key\", \"lock_key\", \"knob_temperature\", \"knob_speed\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_switch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"input_id\": {\"enum\": [\"power_switch\"], \"type\": \"string\"}, \"position\": {\"enum\": [\"off\", \"on\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"position\"], \"title\": \"panel.switch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_turn\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"detents\": {\"maximum\": 1000, \"minimum\": -1000, \"type\": \"integer\", \"x-unit\": \"1\"}, \"input_id\": {\"enum\": [\"knob_temperature\", \"knob_speed\", \"safety_screw\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"detents\"], \"title\": \"panel.turn\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"ph_measure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"ph.measure\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"power_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"power.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"power_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"power.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"program_run\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"program.run\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"safety_set_limit\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"limit_k\": {\"maximum\": 643.15, \"minimum\": 323.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"limit_k\"], \"title\": \"safety.set_limit\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_calibrate_two_point\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"device_1_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"device_2_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"reference_1_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"reference_2_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"device_1_k\", \"reference_1_k\", \"device_2_k\", \"reference_2_k\"], \"title\": \"sensor.calibrate_two_point\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_reset_calibration\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sensor.reset_calibration\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"connected\": {\"type\": \"boolean\"}, \"immersed\": {\"type\": \"boolean\"}}, \"required\": [\"connected\", \"immersed\"], \"title\": \"sensor.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"stirbar_detect_break\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"stirbar.detect_break\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"stirring_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"auto_reverse\": {\"type\": \"boolean\"}, \"direction\": {\"enum\": [\"cw\", \"ccw\"], \"type\": \"string\"}, \"pause_s\": {\"maximum\": 300.0, \"minimum\": 3.0, \"type\": \"number\", \"x-unit\": \"s\"}, \"run_s\": {\"maximum\": 600.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"stirring.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"stirring.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_set_speed\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"speed_rad_s\": {\"maximum\": 157.07963267948966, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"rad/s\"}}, \"required\": [\"speed_rad_s\"], \"title\": \"stirring.set_speed\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"stirring.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_clear\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"timer.clear\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 8636400.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [\"duration_s\"], \"title\": \"timer.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"timer.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"vessel_place\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"initial_k\": {\"maximum\": 400.0, \"minimum\": 250.0, \"type\": \"number\", \"x-unit\": \"K\"}, \"stir_bar_length_m\": {\"maximum\": 0.08, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"m\"}, \"substance_id\": {\"enum\": [\"acetic_acid\", \"acetic_anhydride\", \"acetone\", \"acetonitrile\", \"aniline\", \"benzaldehyde\", \"benzene\", \"benzyl_alcohol\", \"butan_1_ol\", \"butanoic_acid\", \"butanone\", \"butyl_acetate\", \"carbon_tetrachloride\", \"chlorobenzene\", \"chloroform\", \"cyclohexane\", \"cyclohexanone\", \"decane\", \"dichloroethane_1_2\", \"dichloromethane\", \"diethyl_ether\", \"dmf\", \"dmso\", \"ethanol\", \"ethyl_acetate\", \"ethyl_butanoate\", \"ethylbenzene\", \"ethylene_glycol\", \"formic_acid\", \"hexan_1_ol\", \"hexane\", \"isobutanol\", \"m_xylene\", \"methanol\", \"methyl_acetate\", \"methyl_formate\", \"nitrobenzene\", \"nonane\", \"o_xylene\", \"octan_1_ol\", \"octane\", \"p_xylene\", \"pentane\", \"propan_1_ol\", \"propan_2_ol\", \"propyl_acetate\", \"styrene\", \"tetrahydrofuran\", \"toluene\", \"triethylamine\", \"water\"], \"type\": \"string\"}, \"vessel\": {\"enum\": [\"beaker_250ml\", \"beaker_600ml\", \"h1000\", \"h1500\", \"h3000\", \"h5000\", \"metal_pot_2l\"], \"type\": \"string\"}, \"volume_m3\": {\"maximum\": 0.005, \"minimum\": 1e-06, \"type\": \"number\", \"x-unit\": \"m3\"}}, \"required\": [\"vessel\", \"substance_id\", \"volume_m3\"], \"title\": \"vessel.place\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"vessel_remove\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"vessel.remove\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"viscosity_reset\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"viscosity.reset\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"weighing_tare\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"weighing.tare\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"instrument\", \"profile\": \"devices/instrument/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {\"calibrated_at\": null, \"method\": \"manual\", \"mount\": {\"parent\": \"world\", \"parent_frame\": \"world\", \"rotation_xyzw\": [0, 0, 0, 1], \"translation_m\": [0, 0, 0]}, \"source\": \"user\"}, \"implementation\": \"ChemLab instrument interface\", \"intrinsics\": {\"instrument\": {\"asset_id\": \"instrument.ika_plate_rctdigital\", \"catalog_id\": \"CHEM-008\", \"domain\": \"Basic Metrology & Sample Handling\", \"manufacturer\": \"IKA\", \"model\": \"Plate RCT digital\", \"name\": \"Magnetic hotplate stirrer\", \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\", \"size_m\": [0.16, 0.27, 0.0849], \"state_slots\": {\"clock.time_s\": {\"unit\": \"s\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"s\"}}, \"display.message\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.safe_temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.set_speed\": {\"unit\": \"rpm\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"rpm\"}, {\"type\": \"null\"}]}}, \"display.set_temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.speed\": {\"unit\": \"rpm\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"rpm\"}, {\"type\": \"null\"}]}}, \"display.temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.timer\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.visc_trend\": {\"unit\": \"%\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"%\"}, {\"type\": \"null\"}]}}, \"error.code\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maximum\": 99, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"heating.control\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"plate\", \"pid\", \"2p\"], \"type\": \"string\"}}, \"heating.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"heating.set_k\": {\"unit\": \"K\", \"value_schema\": {\"maximum\": 583.15, \"minimum\": 273.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"indicator.beep\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.heating\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.hot\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.lock\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.motor\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.sensor\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.standby\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"interface.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"lock.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"menu.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"plant.configured\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"power.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"safety.limit_k\": {\"unit\": \"K\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"K\"}}, \"sensor.calibration\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"sensor.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"stirring.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"stirring.pattern\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"stirring.set_rad_s\": {\"unit\": \"rad/s\", \"value_schema\": {\"maximum\": 157.07963267948966, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"rad/s\"}}, \"timer.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"vessel.state\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 17521, "outputTokens": 36, "cachedInputTokens": 17152, "cacheReportedInputTokens": 17521, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 17521, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 36}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "23b41db7", "role": "toolResult", "timestamp": "2026-10-23T06:06:14.495Z", "parts": [{"type": "text", "text": "{\"actions\": {\"events_read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"since_s\": {\"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"events.read\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"heating.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_set_mode\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"mode\": {\"enum\": [\"pid\", \"2p\"], \"type\": \"string\"}}, \"required\": [\"mode\"], \"title\": \"heating.set_mode\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_set_temperature\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"temperature_k\": {\"maximum\": 583.15, \"minimum\": 273.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"temperature_k\"], \"title\": \"heating.set_temperature\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"heating_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"heating.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"interface_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"connected\": {\"type\": \"boolean\"}}, \"required\": [\"connected\"], \"title\": \"interface.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"lock_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"lock.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"menu_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"beep\": {\"type\": \"boolean\"}, \"display\": {\"enum\": [\"safe\", \"visc\"], \"type\": \"string\"}, \"err5_timeout_s\": {\"maximum\": 1800.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}, \"expiry_stop_heating\": {\"type\": \"boolean\"}, \"expiry_stop_stirring\": {\"type\": \"boolean\"}, \"operating_mode\": {\"enum\": [\"A\", \"B\", \"D\"], \"type\": \"string\"}, \"unit\": {\"enum\": [\"C\", \"F\"], \"type\": \"string\"}}, \"required\": [], \"title\": \"menu.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"namur_send\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"command\": {\"maxLength\": 80, \"type\": \"string\"}}, \"required\": [\"command\"], \"title\": \"namur.send\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"operation_poll\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"operation_id\": {\"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"operation_id\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"lcd\", \"standby_led\", \"hot_lamp\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"temp_push_key\", \"speed_push_key\", \"menu_key\", \"timer_key\", \"lock_key\", \"knob_temperature\", \"knob_speed\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_switch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"input_id\": {\"enum\": [\"power_switch\"], \"type\": \"string\"}, \"position\": {\"enum\": [\"off\", \"on\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"position\"], \"title\": \"panel.switch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_turn\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"detents\": {\"maximum\": 1000, \"minimum\": -1000, \"type\": \"integer\", \"x-unit\": \"1\"}, \"input_id\": {\"enum\": [\"knob_temperature\", \"knob_speed\", \"safety_screw\"], \"type\": \"string\"}}, \"required\": [\"input_id\", \"detents\"], \"title\": \"panel.turn\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"ph_measure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"ph.measure\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"power_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"power.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"power_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"power.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"program_run\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"program.run\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"safety_set_limit\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"limit_k\": {\"maximum\": 643.15, \"minimum\": 323.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"limit_k\"], \"title\": \"safety.set_limit\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_calibrate_two_point\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"device_1_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"device_2_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"reference_1_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}, \"reference_2_k\": {\"maximum\": 623.15, \"minimum\": 263.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"required\": [\"device_1_k\", \"reference_1_k\", \"device_2_k\", \"reference_2_k\"], \"title\": \"sensor.calibrate_two_point\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_reset_calibration\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"sensor.reset_calibration\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"sensor_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"connected\": {\"type\": \"boolean\"}, \"immersed\": {\"type\": \"boolean\"}}, \"required\": [\"connected\", \"immersed\"], \"title\": \"sensor.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"stirbar_detect_break\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"stirbar.detect_break\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}, \"stirring_configure\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"auto_reverse\": {\"type\": \"boolean\"}, \"direction\": {\"enum\": [\"cw\", \"ccw\"], \"type\": \"string\"}, \"pause_s\": {\"maximum\": 300.0, \"minimum\": 3.0, \"type\": \"number\", \"x-unit\": \"s\"}, \"run_s\": {\"maximum\": 600.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [], \"title\": \"stirring.configure\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"on\": {\"type\": \"boolean\"}}, \"required\": [\"on\"], \"title\": \"stirring.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_set_speed\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"speed_rad_s\": {\"maximum\": 157.07963267948966, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"rad/s\"}}, \"required\": [\"speed_rad_s\"], \"title\": \"stirring.set_speed\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"stirring_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"stirring.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_clear\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"timer.clear\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 8636400.0, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"s\"}}, \"required\": [\"duration_s\"], \"title\": \"timer.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"timer_toggle\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"timer.toggle\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"vessel_place\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"initial_k\": {\"maximum\": 400.0, \"minimum\": 250.0, \"type\": \"number\", \"x-unit\": \"K\"}, \"stir_bar_length_m\": {\"maximum\": 0.08, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"m\"}, \"substance_id\": {\"enum\": [\"acetic_acid\", \"acetic_anhydride\", \"acetone\", \"acetonitrile\", \"aniline\", \"benzaldehyde\", \"benzene\", \"benzyl_alcohol\", \"butan_1_ol\", \"butanoic_acid\", \"butanone\", \"butyl_acetate\", \"carbon_tetrachloride\", \"chlorobenzene\", \"chloroform\", \"cyclohexane\", \"cyclohexanone\", \"decane\", \"dichloroethane_1_2\", \"dichloromethane\", \"diethyl_ether\", \"dmf\", \"dmso\", \"ethanol\", \"ethyl_acetate\", \"ethyl_butanoate\", \"ethylbenzene\", \"ethylene_glycol\", \"formic_acid\", \"hexan_1_ol\", \"hexane\", \"isobutanol\", \"m_xylene\", \"methanol\", \"methyl_acetate\", \"methyl_formate\", \"nitrobenzene\", \"nonane\", \"o_xylene\", \"octan_1_ol\", \"octane\", \"p_xylene\", \"pentane\", \"propan_1_ol\", \"propan_2_ol\", \"propyl_acetate\", \"styrene\", \"tetrahydrofuran\", \"toluene\", \"triethylamine\", \"water\"], \"type\": \"string\"}, \"vessel\": {\"enum\": [\"beaker_250ml\", \"beaker_600ml\", \"h1000\", \"h1500\", \"h3000\", \"h5000\", \"metal_pot_2l\"], \"type\": \"string\"}, \"volume_m3\": {\"maximum\": 0.005, \"minimum\": 1e-06, \"type\": \"number\", \"x-unit\": \"m3\"}}, \"required\": [\"vessel\", \"substance_id\", \"volume_m3\"], \"title\": \"vessel.place\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"vessel_remove\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"vessel.remove\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"viscosity_reset\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"viscosity.reset\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"weighing_tare\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"weighing.tare\", \"type\": \"object\"}, \"read_only\": false, \"reason\": \"Unsupported by upstream runtime\", \"supported\": false}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"instrument\", \"profile\": \"devices/instrument/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {\"calibrated_at\": null, \"method\": \"manual\", \"mount\": {\"parent\": \"world\", \"parent_frame\": \"world\", \"rotation_xyzw\": [0, 0, 0, 1], \"translation_m\": [0, 0, 0]}, \"source\": \"user\"}, \"implementation\": \"ChemLab instrument interface\", \"intrinsics\": {\"instrument\": {\"asset_id\": \"instrument.ika_plate_rctdigital\", \"catalog_id\": \"CHEM-008\", \"domain\": \"Basic Metrology & Sample Handling\", \"manufacturer\": \"IKA\", \"model\": \"Plate RCT digital\", \"name\": \"Magnetic hotplate stirrer\", \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\", \"size_m\": [0.16, 0.27, 0.0849], \"state_slots\": {\"clock.time_s\": {\"unit\": \"s\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"s\"}}, \"display.message\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.safe_temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.set_speed\": {\"unit\": \"rpm\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"rpm\"}, {\"type\": \"null\"}]}}, \"display.set_temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.speed\": {\"unit\": \"rpm\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"rpm\"}, {\"type\": \"null\"}]}}, \"display.temperature\": {\"unit\": \"degC\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"degC\"}, {\"type\": \"null\"}]}}, \"display.timer\": {\"unit\": \"1\", \"value_schema\": {\"maxLength\": 80, \"type\": \"string\"}}, \"display.visc_trend\": {\"unit\": \"%\", \"value_schema\": {\"anyOf\": [{\"type\": \"number\", \"x-unit\": \"%\"}, {\"type\": \"null\"}]}}, \"error.code\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"maximum\": 99, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}}, \"heating.control\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"plate\", \"pid\", \"2p\"], \"type\": \"string\"}}, \"heating.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"heating.set_k\": {\"unit\": \"K\", \"value_schema\": {\"maximum\": 583.15, \"minimum\": 273.15, \"type\": \"number\", \"x-unit\": \"K\"}}, \"indicator.beep\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.heating\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.hot\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.lock\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.motor\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.sensor\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"indicator.standby\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"interface.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"lock.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"menu.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"plant.configured\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"power.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"safety.limit_k\": {\"unit\": \"K\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"K\"}}, \"sensor.calibration\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"sensor.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"stirring.on\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"stirring.pattern\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"stirring.set_rad_s\": {\"unit\": \"rad/s\", \"value_schema\": {\"maximum\": 157.07963267948966, \"minimum\": 0.0, \"type\": \"number\", \"x-unit\": \"rad/s\"}}, \"timer.state\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"object\"}}, \"vessel.state\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}\n"}]}, {"id": "b9a8dbd3", "role": "assistant", "timestamp": "2026-10-23T06:06:16.895Z", "parts": [{"type": "tool", "callID": "call_07015f0135a94d06818d0ecc0d285fcf|fc_0bb441edaef86823016adaf9588ef8819cb7c5ea6b8d81560d", "name": "device", "input": {"deviceID": "instrument", "action": "power_set", "args": {"on": true}}, "output": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 47.2\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1425\",\n  \"result\": {\n    \"on\": true\n  },\n  \"state_revision\": 3,\n  \"status\": \"succeeded\"\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 22081, "outputTokens": 29, "cachedInputTokens": 17408, "cacheReportedInputTokens": 22081, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 22081, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 29}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "47eeb0ae", "role": "toolResult", "timestamp": "2026-10-23T06:06:16.994Z", "parts": [{"type": "text", "text": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 47.2\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1425\",\n  \"result\": {\n    \"on\": true\n  },\n  \"state_revision\": 3,\n  \"status\": \"succeeded\"\n}"}]}, {"id": "bd2d8c37", "role": "assistant", "timestamp": "2026-10-23T06:06:20.773Z", "parts": [{"type": "tool", "callID": "call_de0afe56338349fe9dee430d7cf4c96c|fc_0bb441edaef86823016adaf95c3afc819c9c792d6b2f0bbb08", "name": "device", "input": {"deviceID": "instrument", "action": "stirring_set_speed", "args": {"speed_rad_s": 62.831853}}, "output": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 50.8\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1537\",\n  \"result\": {\n    \"speed_rad_s\": 62.83185307179586\n  },\n  \"state_revision\": 4,\n  \"status\": \"succeeded\"\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 22227, "outputTokens": 37, "cachedInputTokens": 22016, "cacheReportedInputTokens": 22227, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 22227, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 37}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "c1ae5f84", "role": "toolResult", "timestamp": "2026-10-23T06:06:20.969Z", "parts": [{"type": "text", "text": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 50.8\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1537\",\n  \"result\": {\n    \"speed_rad_s\": 62.83185307179586\n  },\n  \"state_revision\": 4,\n  \"status\": \"succeeded\"\n}"}]}, {"id": "3f02806d", "role": "assistant", "timestamp": "2026-10-23T06:06:24.508Z", "parts": [{"type": "tool", "callID": "call_933d2d6109044124b5cf7435e61a1fb0|fc_0bb441edaef86823016adaf95fe568819c83db2ba9e011776e", "name": "device", "input": {"deviceID": "instrument", "action": "stirring_set", "args": {"on": true}}, "output": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 54.1\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1640\",\n  \"result\": {\n    \"on\": true\n  },\n  \"state_revision\": 5,\n  \"status\": \"succeeded\"\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 22390, "outputTokens": 31, "cachedInputTokens": 22144, "cacheReportedInputTokens": 22390, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 22390, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 31}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "f906653a", "role": "toolResult", "timestamp": "2026-10-23T06:06:24.610Z", "parts": [{"type": "text", "text": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 54.1\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-1640\",\n  \"result\": {\n    \"on\": true\n  },\n  \"state_revision\": 5,\n  \"status\": \"succeeded\"\n}"}]}, {"id": "d71f3a2f", "role": "assistant", "timestamp": "2026-10-23T06:06:31.662Z", "parts": [{"type": "tool", "callID": "call_6d6f2835083d4d08ba1c2f584edf3c9d|fc_0bb441edaef86823016adaf96263e0819ca672a5a6d1f37d02", "name": "exec", "input": {"description": "verify displayed stirring speed dwell", "python": "from kinex import device\nstart = None\nsamples = []\nfor _ in range(80):\n    obs = device('instrument')['observations']\n    if obs['error.code']['value'] is not None:\n        raise RuntimeError('Instrument fault: '+str(obs['error.code']['value']))\n    s = obs['display.speed']\n    t, rpm = s['sample_time_s'], s['value']\n    good = (s['quality'] in ('valid', 'estimated') and rpm is not None and abs(rpm-600)<=10 and obs['power.on']['value'] and obs['stirring.on']['value'])\n    samples.append({'time_s':t,'rpm':rpm})\n    start = (t if start is None else start) if good else None\n    if start is not None and t-start >= 1.0:\n        print({'verified':True,'duration_s':t-start,'samples':samples})\n        break\n    device('world','wait',{'duration_s':0.2})\nelse:\n    raise RuntimeError('Speed did not stabilize within bounded polling window')"}, "output": "{\n  \"exit_code\": 1,\n  \"output\": \"\",\n  \"error\": \"driver for \\\"world\\\" failed: Episode finished; call roboenv stop for the final judgment\",\n  \"code\": \"episode_finished\"\n}", "isError": true, "metadata": {}}], "usage": {"inputTokens": 22538, "outputTokens": 272, "cachedInputTokens": 22272, "cacheReportedInputTokens": 22538, "cacheWriteInputTokens": 0, 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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/trajectory.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/trajectory.json
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index 0000000000000000000000000000000000000000..67333927b662a6d19139350c31271b983e37833b
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/analysis.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/analysis.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd8c1f757cf73c07cbd7806786f5d5efd32c5b4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/analysis.json
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+{
+  "slug": "03-hotplate-stirring",
+  "task": "isaaclab/chemlab-hotplate-stirring",
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+    "recommendation": "retain as easier reference",
+    "confidence": "single seed only",
+    "difficulty": "Public instrument-interface discovery, parameter selection and state verification; no robot manipulation.",
+    "scene_goal_alignment": "The original instruction states the target and dwell requirement. Initial conditions are unsatisfied; terminal native state meets all predicates. The overview and instrument screen are recorded together.",
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+    "replay_scope": "Command replay from the original initialization, with source/assets/dependency identity and terminal-state/verdict checks. It is not per-frame physical trajectory restoration.",
+    "summary_zh": "模型检查公开仪器接口后设置搅拌转速并等待原生目标满足。结束状态、实际仪器命令和显示画面均保留。任务只验证仪器控制与状态核验，没有机器人操作或复杂实验流程，适合作为简单参考任务。"
+  },
+  "media": {
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+    "usage": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/usage-audit.json",
+    "summary": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/summary.json",
+    "definition": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/task.yaml",
+    "instruction": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/agent/instruction.txt",
+    "journal": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/journal/actions.jsonl",
+    "media": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/media/verification.json",
+    "replay": "model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/replay.json"
+  },
+  "first_command_time_s": 47.2000000000004
+}
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index 0000000000000000000000000000000000000000..86fdeb39674435f50a7c581cbb35182fc27e8c82
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"83b5be185f27d538e0bf886d608f52b8eb16f25e51c222cc29e32dc5d1e60a90", "runtime/locks/chemlab.txt": "dc47e29d5757921aa6bdf2223b9c401e917233f30bbaded82758fb96d690e617", "runtime/locks/isaaclab-resolved.txt": "cbe649140fd14f02c37b9a87302428cc7cc8a013de4bbb25c54d6304710307d8", "tasks/__init__.py": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", "tasks/chemlab/__init__.py": "497e75fed6f6dee38588fac29a6550395755e51be0843cc26944736a26c4d90d", "tasks/chemlab/environment.py": "c08faac3357e9352e5cc87856cc4fa77fe97f78011d53f7f003bd3390c856e0f", "tasks/chemlab/geometry.py": "274bf96d18e0b8ae89cf7e71c4a8e1e1d5b635606107d4485bfd60e3d6d4b40f", "tasks/chemlab/instrument.py": "e9ad0e99585e37315d81cd086b6ee65dcb8c8dbda52cd123dda6457d59973c6e", "tasks/chemlab/physics.py": "863766f268d17a0fd1b71011b129eac13f2a13d81a01a511d492cc9e6e9b0c96", "tasks/chemlab/projection.py": "982dc08262729d2da75e24a51b01755ee60c0393735caca9e842aa825a3a80d8", "tasks/chemlab/readouts.py": "1724673e3a4897825e8d5a047581fbae820e2ca755b0f97fa7d11e855ed0ac11", "tasks/chemlab/scene.py": "62b151a8c117107140c601bae4f9aa9b7d07040997b6db79f73b1f94ae0591aa", "tasks/chemlab/supplements.py": "9d82a17b9118232b507450842a1fa2ee01527219935db1365d485d55ffd51c58", "tasks/chemlab/task.py": "3d04eebd1a238f183df50381a9b80aa14e299963e38e47f9dfc63f36c8be4131", "upstreams.lock.json#isaaclab": "6cd6e96ad329c6c4a141ca9a2177b9a5b1d70d2ca7319862cfdfdf09ca1c7bda"}, "state": {"instrument": {"clock.time_s": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "s", "value": 55.8}, "display.message": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": ""}, "display.safe_temperature": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "degC", "value": 370}, "display.set_speed": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "rpm", "value": 600.0}, "display.set_temperature": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "degC", "value": 25}, "display.speed": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "rpm", "value": 600.0}, "display.temperature": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "degC", "value": 21.5}, "display.timer": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": ""}, "display.visc_trend": {"quality": "unavailable", "sample_time_s": 55.8, "sample_window_s": null, "unit": "%", "value": null}, "error.code": {"quality": "unavailable", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": null}, "heating.control": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": "plate"}, "heating.on": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "heating.set_k": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "K", "value": 298.15}, "indicator.beep": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "indicator.heating": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "indicator.hot": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "indicator.lock": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "indicator.motor": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": true}, "indicator.sensor": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "indicator.standby": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "interface.state": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"connected": false, "watchdog_mode": 0, "watchdog_s": null, "wd2_active": false, "wd_speed_rpm": null, "wd_temperature_k": null}}, "lock.on": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": false}, "menu.state": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"beep": true, "display": "safe", "err5_timeout_s": 0.0, "expiry_stop_heating": false, "expiry_stop_stirring": false, "operating_mode": "A", "unit": "C"}}, "plant.configured": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": true}, "power.on": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": true}, "safety.limit_k": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "K", "value": 643.15}, "sensor.calibration": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"calibrated": false, "gain": 1.0, "offset_k": 0.0, "points_k": null}}, "sensor.state": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"connected": false, "immersed": false}}, "stirring.on": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": true}, "stirring.pattern": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"auto_reverse": false, "direction": "cw", "intermittent": false, "pause_s": 3.0, "run_s": 0.0}}, "stirring.set_rad_s": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "rad/s", "value": 62.83185307179586}, "timer.state": {"quality": "estimated", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"duration_s": 0.0, "elapsed_s": null, "expired": false, "mode": null, "remaining_s": null, "running": false}}, "truth.faults": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": []}, "truth.process": {"quality": "valid", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": {"bar_coupled": true, "bar_rad_s": 0.0, "charge_k": null, "heater_duty": 0.0, "internal_k": 295.1502388807821, "liquid": null, "motor_rad_s": 62.83185307179586, "plate_k": 295.1517062913009, "plate_target_k": null, "sensor_error": {"gain": 0.0, "offset_k": 0.0}, "sensor_k": null, "torque_nm": 0.0}}, "vessel.state": {"quality": "unavailable", "sample_time_s": 55.8, "sample_window_s": null, "unit": "1", "value": null}}}, "stop_on_success": true, "submitted": true, "success_latched": true, "task": "isaaclab/chemlab-hotplate-stirring", "task_definition": {"dwell_s": 1.0, "goals": [{"instrument": "instrument", "max": 610, "min": 590, "state": "display.speed"}], "instruments": {"instrument": {"asset": "instrument.ika_plate_rctdigital", "initialize": [{"arguments": {"ambient_k": 295.15, "mains_v": 230.0, "noise_seed": 1, "pressure_pa": 101325.0}, "capability": "plant.configure"}, {"arguments": {"on": false}, "capability": "power.set"}]}}}}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/instruction.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/instruction.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8779596a953e66551cb1c968bb912a8c9148b2f
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/instruction.json
@@ -0,0 +1,14 @@
+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.",
+  "native_instruction": "",
+  "policy": "original_native",
+  "prompt": "# Task: isaaclab/chemlab-hotplate-stirring\n\nPower on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "prompt_template": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-hotplate-stirring\n\nPower on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "schema": "rlebench/episode-instruction/3",
+  "source": "catalog",
+  "task_id": "isaaclab/chemlab-hotplate-stirring",
+  "template": "Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second."
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/journal/actions.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/journal/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02e37b5df7a94b6622fb2c391185f09c2b87960c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/journal/actions.jsonl
@@ -0,0 +1,36 @@
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"devices.list","protocol":"roboenv/1","request_id":"roboenv-43a7ecacb68acf3c","session":"e0137f74fdea8453"},"supervisor_pid":26,"time_ns":1792735529781088503,"ts":"2026-10-23T06:05:29.781034+00:00"}
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+{"journal_version":1,"phase":"intent","request":{"args":{"action":"wait","args":{"duration_s":0.2},"device":"world"},"deadline_s":600.0,"generation":0,"op":"devices.call","protocol":"roboenv/1","request_id":"driver-253906ab0d0e66cc","session":"e0137f74fdea8453"},"supervisor_pid":26,"time_ns":1792735591796477142,"ts":"2026-10-23T06:06:31.796421+00:00"}
+{"elapsed_s":0.013361,"journal_version":1,"phase":"error","request":{"args":{"action":"wait","args":{"duration_s":0.2},"device":"world"},"deadline_s":600.0,"generation":0,"op":"devices.call","protocol":"roboenv/1","request_id":"driver-253906ab0d0e66cc","session":"e0137f74fdea8453"},"response":{"error":{"code":"episode_finished","details":{"budget":{"max":null,"unit":"action_frames","used":558},"capabilities":{"bounded_episodes":true,"terminal_feedback":true},"effects":"none","generation":0,"schema":"roboenv/simulation-status/1","session":"e0137f74fdea8453","simulation_time_s":null,"state":"terminal","terminal":true},"message":"Episode finished; call roboenv stop for the final judgment","retryable":false},"generation":0,"ok":false,"protocol":"roboenv/1","request_id":"driver-253906ab0d0e66cc","session":"e0137f74fdea8453"},"time_ns":1792735591809799863,"ts":"2026-10-23T06:06:31.809781+00:00"}
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":30.0,"generation":0,"op":"simulation.status","protocol":"roboenv/1","request_id":"roboenv-448ab7080ce737d0","session":"e0137f74fdea8453"},"supervisor_pid":26,"time_ns":1792735596934148208,"ts":"2026-10-23T06:06:36.934126+00:00"}
+{"elapsed_s":0.029295,"journal_version":1,"phase":"commit","request":{"args":{},"deadline_s":30.0,"generation":0,"op":"simulation.status","protocol":"roboenv/1","request_id":"roboenv-448ab7080ce737d0","session":"e0137f74fdea8453"},"response":{"generation":0,"ok":true,"protocol":"roboenv/1","request_id":"roboenv-448ab7080ce737d0","result":{"budget":{"max":null,"unit":"action_frames","used":558},"capabilities":{"bounded_episodes":true,"terminal_feedback":true},"generation":0,"schema":"roboenv/simulation-status/1","session":"e0137f74fdea8453","simulation_time_s":null,"state":"terminal","terminal":true},"session":"e0137f74fdea8453"},"time_ns":1792735596963453309,"ts":"2026-10-23T06:06:36.963424+00:00"}
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"simulation.stop","protocol":"roboenv/1","request_id":"roboenv-8b78003901c77d08","session":"e0137f74fdea8453"},"supervisor_pid":26,"time_ns":1792735599545041736,"ts":"2026-10-23T06:06:39.545009+00:00"}
+{"elapsed_s":2.153878,"journal_version":1,"phase":"commit","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"simulation.stop","protocol":"roboenv/1","request_id":"roboenv-8b78003901c77d08","session":"e0137f74fdea8453"},"response":{"generation":0,"ok":true,"protocol":"roboenv/1","request_id":"roboenv-8b78003901c77d08","result":{"budget":{"max":null,"unit":"action_frames","used":558},"capabilities":{"bounded_episodes":true,"terminal_feedback":true},"generation":0,"reason":"success","schema":"roboenv/simulation-status/1","service_state":"stopped","session":"e0137f74fdea8453","simulation_time_s":null,"state":"terminal","success":true,"terminal":true},"session":"e0137f74fdea8453"},"time_ns":1792735601698909129,"ts":"2026-10-23T06:06:41.698886+00:00"}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/logs/worker.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/logs/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..3aa360009d93e82467e07346e5c5b86c5bd95110
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/logs/worker.log
@@ -0,0 +1,158 @@
+RoboEnv GPU selection: {"cuda_index": 0, "pci_bus_id": "0000:1e:00.0", "uuid": "GPU-3cc7e055-1d59-e7e3-a538-b14189f20b98", "vulkan_devices": 1, "vulkan_index": 0}
+2026-10-23 06:04:01,228 INFO isaaclab.app.app_launcher: No visualizer was selected, so running in headless mode. To launch a visualizer app, pass '--viz <names>' (for example '--viz kit').
+2026-10-23 06:04:01,228 INFO isaaclab.app.app_launcher: Using device: cuda:0
+2026-10-23 06:04:01,229 INFO isaaclab.app.app_launcher: Loading experience file: /opt/roboenv/runtime/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
+2026-10-23T06:04:01Z [Info] [carb] Logging to file: /opt/sim-env/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/IsaacLab/3.0/kit_20261023_060401.log
+2026-10-23T06:04:01Z [8ms] [Warning] [omni.ext.plugin] [ext: isaaclab_visualizers] Extensions config 'extension.toml' doesn't exist '/opt/roboenv/runtime/third_party/IsaacLab/source/isaaclab_visualizers' or '/opt/roboenv/runtime/third_party/IsaacLab/source/isaaclab_visualizers/config'
+2026-10-23 06:04:01,414 DEBUG asyncio: Using selector: EpollSelector
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792735441.458267      28 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792735441.458298      28 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+2026-10-23T06:04:01Z [679ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-23T06:04:01Z [696ms] [Warning] [omni.rtx] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-10-23T06:04:01Z [696ms] [Warning] [omni.rtx] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-10-23T06:04:01Z [696ms] [Warning] [omni.rtx] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 565.57.01     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA L40S                      | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 26b9      | 3cc7e055.. |
+|     |                                  |        |     |            | 1e        |            |
+|=============================================================================================|
+| OS: 24.04.1 LTS (Noble Numbat) ubuntu, Version: 24.04.1, Kernel: 6.8.0-124-generic
+| Processor: INTEL(R) XEON(R) GOLD 6548Y+
+| Cores: 64 | Logical Cores: 128
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 1547791 | Free Memory: 1389275
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-23T06:04:02Z [1,483ms] [Warning] [omni.rtx] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+2026-10-23T06:04:02Z [1,491ms] [Warning] [omni.rtx] ECC is enabled on physical device 0
+2026-10-23T06:04:02Z [1,495ms] [Warning] [omni.rtx] IOMMU is enabled.
+2026-10-23T06:04:04Z [2,961ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T06:04:04Z [2,961ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T06:04:04Z [3,138ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T06:04:04Z [3,138ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T06:04:04Z [3,142ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T06:04:04Z [3,142ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T06:04:05Z [4,020ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'any' as 'Any'
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'bool' as 'Bool' and array 'BoolArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'bundle' as 'Bundle'
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'double' as 'Double' and array 'DoubleArray
+2026-10-23 06:04:09,081 DEBUG AutoNode: Defining data type 'double[2]' as 'Double2' and array 'Double2Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'double[3]' as 'Double3' and array 'Double3Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'double[4]' as 'Double4' and array 'Double4Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'execution' as 'Execution'
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'float' as 'Float' and array 'FloatArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'float[2]' as 'Float2' and array 'Float2Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'float[3]' as 'Float3' and array 'Float3Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'float[4]' as 'Float4' and array 'Float4Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'frame[4]' as 'Frame' and array 'FrameArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'half' as 'Half' and array 'HalfArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'half[2]' as 'Half2' and array 'Half2Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'half[3]' as 'Half3' and array 'Half3Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'half[4]' as 'Half4' and array 'Half4Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'int' as 'Int' and array 'IntArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'int[2]' as 'Int2' and array 'Int2Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'int[3]' as 'Int3' and array 'Int3Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'int[4]' as 'Int4' and array 'Int4Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'int64' as 'Int64' and array 'Int64Array
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'path' as 'Path'
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray
+2026-10-23 06:04:09,082 DEBUG AutoNode: Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'quath[4]' as 'Quath' and array 'QuathArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'string' as 'String'
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'target' as 'Target'
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'token' as 'Token' and array 'TokenArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'uchar' as 'UChar' and array 'UCharArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'uint' as 'UInt' and array 'UIntArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'uint64' as 'UInt64' and array 'UInt64Array
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray
+2026-10-23 06:04:09,083 DEBUG AutoNode: Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray
+2026-10-23T06:04:09Z [8,464ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-23T06:04:09Z [8,702ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-23T06:04:26Z [25,528ms] [Warning] [rtx.hydra] RenderDelegate : Warning /rtx/hydra/readTransformsFromFabricInRenderDelegate and geometry streaming are enabled together but this can cause issues with dynamic objects not streaming correctly due to problems in the transform update.
+[ISAACLAB] AppLauncher initialization complete
+2026-10-23 06:05:14,788 WARNING isaaclab_physx.physics.physx_manager: TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23T06:05:14Z [73,522ms] [Warning] [isaaclab_physx.physics.physx_manager] TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23 06:05:15,766 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Startup: isaacsim.asset.transformer.rules-1.7.10
+2026-10-23 06:05:15,848 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 06:05:16,323 INFO isaacsim.asset.importer.utils.impl.asset_utils: Fixed base already present on /ika_plate_rctdigital/Geometry/base_link - skipping fix_base.
+2026-10-23 06:05:16,324 INFO isaacsim.asset.importer.utils.impl.asset_utils: Relocated ArticulationRootAPI on 1 rigid body(ies).
+2026-10-23 06:05:16,328 INFO isaacsim.asset.importer.utils.impl.importer_utils: Applied RobotAPI to prim /ika_plate_rctdigital
+2026-10-23 06:05:16,331 INFO isaacsim.asset.importer.utils.impl.importer_utils: Set isaac:robotType = 'Default' on /ika_plate_rctdigital
+2026-10-23 06:05:16,373 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 06:05:17,156 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/e0137f74fdea8453/evidence/tmp/chemlab-textures-f6i86pmq/instrument/physics/model/payloads/base.usda
+2026-10-23 06:05:17,553 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/e0137f74fdea8453/evidence/tmp/chemlab-textures-f6i86pmq/instrument/physics/model/model.usda
+2026-10-23 06:05:17,558 INFO isaacsim.asset.transformer.manager: Skipping disabled rule: Delete Newton Redundant APIs
+2026-10-23 06:05:18,071 INFO isaaclab.utils.backend_utils: Registered backend 'physx' for factory Articulation.
+[INFO]: Registered backend 'physx' for factory Articulation.
+2026-10-23T06:05:19Z [77,863ms] [Warning] [omni.usd] Encountered USD Warnings but USD Diagnostics are currently muted. To view USD Warnings, please set the '/persistent/app/usd/muteUsdDiagnostics' setting to false in Preferences page.
+2026-10-23 06:05:25,240 INFO isaaclab_physx.assets.articulation.articulation: Simulation parameters for joints in /World/instrument/physics:
++-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                     Simulation Joint Information (Prim path: /World/instrument/physics)                                                     |
++-------+------------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+| Index | Name                   | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction | Position Limits | Velocity Limits | Effort Limits |
++-------+------------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+|   0   | temp_push_key_joint    |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   1   | speed_push_key_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   2   | menu_key_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   3   | timer_key_joint        |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   4   | lock_key_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   5   | power_switch_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.003] |      57.296     |     10.000    |
+|   6   | knob_temperature_joint |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [0.000, 19.478] |      1.000      |     10.000    |
+|   7   | knob_speed_joint       |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [0.000, 18.850] |      1.000      |     10.000    |
++-------+------------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+[INFO]: Simulation parameters for joints in /World/instrument/physics:
++-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                     Simulation Joint Information (Prim path: /World/instrument/physics)                                                     |
++-------+------------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+| Index | Name                   | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction | Position Limits | Velocity Limits | Effort Limits |
++-------+------------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+|   0   | temp_push_key_joint    |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   1   | speed_push_key_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.002] |      57.296     |     10.000    |
+|   2   | menu_key_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   3   | timer_key_joint        |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   4   | lock_key_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.001] |      57.296     |     10.000    |
+|   5   | power_switch_joint     |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [0.000, 0.003] |      57.296     |     10.000    |
+|   6   | knob_temperature_joint |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [0.000, 19.478] |      1.000      |     10.000    |
+|   7   | knob_speed_joint       |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [0.000, 18.850] |      1.000      |     10.000    |
++-------+------------------------+-----------+---------+----------+-----------------+------------------+------------------+-----------------+-----------------+---------------+
+2026-10-23T06:05:26Z [84,857ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
+2026-10-23 06:05:26,208 INFO isaaclab_physx.renderers.isaac_rtx_renderer_utils: RTX streaming completed in 0.05 s.
+[INFO]: RTX streaming completed in 0.05 s.
+2026-10-23 06:05:28,840 INFO isaacsim.asset.transformer.rules.utils: Discovered 12 Kit-shipped MDL basename(s) and 12 suffix form(s) (merged with 15 hardcoded fallback basename(s)).
+2026-10-23T06:05:28Z [87,574ms] [Warning] [omni.kit.material.library.material_extensions] Could not initialize context menu integration: No module named 'omni.kit.context_menu'
+2026-10-23 06:05:29,743 INFO __main__: worker ready: task=isaaclab/chemlab-hotplate-stirring seed=0 mode=practice socket=/tmp/roboenv-socket-kz_kzrv6/worker.sock
+/usr/lib/python3.12/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/native-initialization.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/native-initialization.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4744b549baa0c1c948817e5068c94562cd094b
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/native-initialization.json
@@ -0,0 +1,2261 @@
+{
+  "assets": {
+    "instruments": {
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+        "urdf_sha256": "ffda50cc455ab9f1c50c93d31ecf19213327996705e2f14bd00d9ba57de6e69c"
+      },
+      "instrument.agilent_1290infinity": {
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+        "contract_sha256": "5b4bf089aaae875e665e3573b6a4e78efdbabd51376820b289667b4ffc9aee1c",
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+        "urdf_sha256": "574b6228deec0960c7556159f18b11ca4bdb188b7d5da891cf7401699876fba0"
+      },
+      "instrument.agilent_7890b_ssl_fid": {
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+        "contract_sha256": "87b579d58636583037219d53703951dec6c1e6b4d50423ca99713a038f6afe28",
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+      },
+      "instrument.agilent_gc8890b": {
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+        "urdf_sha256": "6bb871da38e11735eb8d8e15330e67946254f46fef10e4ef7ac5d6435ddc83a2"
+      },
+      "instrument.agilent_hplc1260": {
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+      },
+      "instrument.agilent_hs8697": {
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+        "urdf_sha256": "0127b803fd51ee38f070534ed4d4042528801c5d1bda54b91d4c60ed42426c38"
+      },
+      "instrument.alicat_mc_1slpm_rev6": {
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+        "urdf_sha256": "f471e6b094fb76441a09d1dec3d194ec3e6ab193244efb361613c48fb6f189af"
+      },
+      "instrument.ametek_oxtran": {
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+        "contract_sha256": "ed33b0a042ef02d36e73c392a61035cd2504de7b9a20c539fee2ad4b6796e70d",
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+        "urdf_sha256": "1db439b8c52e1b8c7845c918548a5b14a061ce29083650d3d94080fa29cf98df"
+      },
+      "instrument.antonpaar_abbematadvanced": {
+        "capabilities": 50,
+        "contract_sha256": "7e57b7862d4191651f93498f08263f0310e04db309ace202c8b94f79584ca495",
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+      },
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+      },
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+      },
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+        "urdf_sha256": "33054c6fb096e86021106ea1cce418ab92ebc7272f21236bd5ffeaa1993d232c"
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+      "instrument.arradiance_gemstarxt": {
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+        "contract_sha256": "be142777053eaf323ea3038e657dfd205e12654a5227d6c5546f66f0ac1fa098",
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+        "urdf_sha256": "db2796ac57368757fd99a850dd144b1ded0c83682e3886e06e504e03c1d3ca50"
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+      "instrument.azenta_automated_roll_heat_sealer_a4s": {
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+  }
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/recording/frames.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/recording/frames.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d2847fc2cc95c30fe2ed5f25cfec62feaa98172
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/owner/recording/frames.jsonl
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index 0000000000000000000000000000000000000000..d3380e284bc9a772c6b055fc1c5ba58b68dd5e12
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index 0000000000000000000000000000000000000000..7b6eae7417a19cfab38a0f19bea342648e5faac1
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+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/replay.json
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+            ],
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+          },
+          "usage_source": "Harbor session metrics",
+          "valid": true,
+          "wall_time_sec": 91.175607
+        }
+      ],
+      "exception": null,
+      "reward": 1.0,
+      "task": "rlebench/03-hotplate-stirring",
+      "trial": "03-hotplate-stirring__uALakyP",
+      "valid": true
+    }
+  ],
+  "valid_trials": 1
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/task.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/task.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ed88c7fc52382346e9cbdf355bc43283ddff6369
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/task.yaml
@@ -0,0 +1,30 @@
+id: isaaclab/chemlab-hotplate-stirring
+robot: isaaclab/isaaclab-chemlab-instruments
+instruction: Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed
+  speed is within 10 rpm for one simulation second.
+seed: 0
+budget_mode: practice
+execution_mode: realtime
+stop_on_success: true
+backend_kwargs:
+  task_name: chemlab-instruments
+  task_spec:
+    instruments:
+      instrument:
+        asset: instrument.ika_plate_rctdigital
+        initialize:
+        - capability: plant.configure
+          arguments:
+            ambient_k: 295.15
+            pressure_pa: 101325.0
+            mains_v: 230.0
+            noise_seed: 1
+        - capability: power.set
+          arguments:
+            'on': false
+    goals:
+    - instrument: instrument
+      state: display.speed
+      min: 590
+      max: 610
+    dwell_s: 1.0
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/artifacts.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/artifacts.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49c4842f4165cc10ff9651e4d5ea58f8d3eb0e2
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/artifacts.json
@@ -0,0 +1,77 @@
+{
+  "evidence": {
+    "complete": true,
+    "path": "evidence.tar.gz"
+  },
+  "recording": {
+    "complete": true,
+    "enabled": true,
+    "encoder_complete": true,
+    "manifest": {
+      "accepted_samples": 559,
+      "captured_samples": 559,
+      "clock": "simulation",
+      "dropped_samples": 0,
+      "encoded_frames": 559,
+      "end_time_s": 55.80000000000052,
+      "error": null,
+      "experimental": true,
+      "fps": 10,
+      "overflow_policy": "drop",
+      "received_samples": 559,
+      "represented_samples": 559,
+      "schema": "roboenv/recording/1",
+      "state": "closed",
+      "status": "complete",
+      "views": [
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "third_person",
+          "pose": null,
+          "source": "third_person",
+          "width": 1280
+        },
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "instrument_lcd",
+          "pose": null,
+          "source": "instrument_lcd",
+          "width": 1280
+        }
+      ]
+    },
+    "represented_samples": 559,
+    "source_sample_coverage": 1.0,
+    "source_samples_complete": true,
+    "video_available": true,
+    "videos": [
+      {
+        "bytes": 1752980,
+        "path": "recording/third_person.mp4"
+      },
+      {
+        "bytes": 2625127,
+        "path": "recording/instrument_lcd.mp4"
+      }
+    ]
+  },
+  "schema": "rlebench/episode-artifacts/1",
+  "terminal_evidence": {
+    "available": true,
+    "complete": true,
+    "manifest": {
+      "complete": true,
+      "files": {
+        "final-observation.json": {
+          "complete": true,
+          "path": "final-observation.json",
+          "sha256": "1af8cf7b9d4a83090181dc7e6599c3e2a613f847791ea701d5c6475c3e2e054e"
+        }
+      },
+      "schema": "roboenv/terminal-evidence/1"
+    }
+  },
+  "workspace_complete": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/episode.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/episode.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f461dc6907d8a87e5c045ad4340b80baf1fa74
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/episode.json
@@ -0,0 +1,21 @@
+{
+  "episode": 1,
+  "initialization": {
+    "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+    "execution_mode": "realtime",
+    "loaded_state_sha256": "ac59f265afe87e156d154d8c4074877275728d465151edb161074812ec785d33",
+    "seed": 0,
+    "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+    "task": "isaaclab/chemlab-hotplate-stirring",
+    "task_sha256": "e04b1fd4d6e14e5139363adcde99021dde884c7d4ad04bbd318aee944e4ce7c5"
+  },
+  "native_reward": 1.0,
+  "planned_episodes": 1,
+  "reason": "success",
+  "simulation_time_s": null,
+  "step_limit": null,
+  "steps": 558,
+  "success": true,
+  "valid": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/episodes.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/episodes.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ec8e35ef86a9fffc844e7988b35dcb4d0af61fc
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/episodes.json
@@ -0,0 +1,23 @@
+[
+  {
+    "episode": 1,
+    "initialization": {
+      "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+      "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+      "execution_mode": "realtime",
+      "loaded_state_sha256": "ac59f265afe87e156d154d8c4074877275728d465151edb161074812ec785d33",
+      "seed": 0,
+      "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+      "task": "isaaclab/chemlab-hotplate-stirring",
+      "task_sha256": "e04b1fd4d6e14e5139363adcde99021dde884c7d4ad04bbd318aee944e4ce7c5"
+    },
+    "native_reward": 1.0,
+    "planned_episodes": 1,
+    "reason": "success",
+    "simulation_time_s": null,
+    "step_limit": null,
+    "steps": 558,
+    "success": true,
+    "valid": true
+  }
+]
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/protocol.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..136f6266e12eb8c9835f58d397cc09e2c9e84d5d
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/protocol.json
@@ -0,0 +1,75 @@
+{
+  "episode_specs": [
+    {
+      "instruction_template": {
+        "bindings": {},
+        "policy": "original_native",
+        "prompt": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-hotplate-stirring\n\nPower on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n"
+      },
+      "max_steps": null,
+      "provider": "roboenv",
+      "seed": 0,
+      "task": {
+        "backend_kwargs": {
+          "asset_directory": "/opt/roboenv/assets/chemlab/a6c006f921c9bee62f5585dd7f769163a7f51573",
+          "task_name": "chemlab-instruments",
+          "task_spec": {
+            "dwell_s": 1.0,
+            "goals": [
+              {
+                "instrument": "instrument",
+                "max": 610,
+                "min": 590,
+                "state": "display.speed"
+              }
+            ],
+            "instruments": {
+              "instrument": {
+                "asset": "instrument.ika_plate_rctdigital",
+                "initialize": [
+                  {
+                    "arguments": {
+                      "ambient_k": 295.15,
+                      "mains_v": 230.0,
+                      "noise_seed": 1,
+                      "pressure_pa": 101325.0
+                    },
+                    "capability": "plant.configure"
+                  },
+                  {
+                    "arguments": {
+                      "on": false
+                    },
+                    "capability": "power.set"
+                  }
+                ]
+              }
+            }
+          }
+        },
+        "budget_mode": "practice",
+        "execution_mode": "realtime",
+        "id": "isaaclab/chemlab-hotplate-stirring",
+        "instruction": "Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.",
+        "robot": "isaaclab/isaaclab-chemlab-instruments",
+        "seed": 0,
+        "stop_on_success": true
+      },
+      "yaml": "/opt/benchmark/episode_01.yaml"
+    }
+  ],
+  "episodes": 1,
+  "instruction_policy": "original_native",
+  "max_steps": null,
+  "memory_retention": "retain",
+  "previous_episode_feedback": false,
+  "provider": "roboenv",
+  "realtime": true,
+  "recording": true,
+  "safety_timeout_sec": 28800,
+  "seeds": [
+    0
+  ],
+  "step_unit": "native action frames",
+  "version": "episodic-learning-v1"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/reward.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/reward.json
new file mode 100644
index 0000000000000000000000000000000000000000..65efe5079f081e5942187ad7b8ecb91b4d48d4e9
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/reward.json
@@ -0,0 +1,4 @@
+{
+  "reward": 1.0,
+  "valid": 1.0
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/workspace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/workspace.json
new file mode 100644
index 0000000000000000000000000000000000000000..df2bc171c97e57d92e5be87ae6ce560ce7df157a
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+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/verifier/workspace.json
@@ -0,0 +1,82 @@
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+    ".kinex/devices/instrument/profile.yaml",
+    ".kinex/devices/world/connection.json",
+    ".kinex/devices/world/driver.py",
+    ".kinex/devices/world/profile.yaml",
+    ".kinex/memos/chemlab-hotplate.md",
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+  ],
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+    "memos",
+    ".kinex/tools",
+    ".kinex/skills",
+    ".kinex/memos"
+  ],
+  "skipped_symlinks": []
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/_camera.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/_camera.py
new file mode 100644
index 0000000000000000000000000000000000000000..27eecb55699f9de34096f468c3ce6be4cde99338
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/_camera.py
@@ -0,0 +1,73 @@
+"""Camera output conversion; the server's artifact protocol stays unchanged."""
+
+import base64
+import io
+import math
+import struct
+from pathlib import Path
+
+
+def output_mode(value="file"):
+    if value not in ("file", "array", "base64"):
+        raise ValueError("camera output must be file, array or base64")
+    return value
+
+
+def camera_read(data, profile):
+    value = data["timestamp"]
+    if type(value) not in {int, float} or not math.isfinite(value):
+        raise ValueError("Invalid camera timestamp")
+    content = "color" in data
+    color = profile["intrinsics"]["color"]
+    if content:
+        header = base64.b64decode(data["color"], validate=True)[:26]
+    else:
+        with Path(data["file"]).open("rb") as handle:
+            header = handle.read(26)
+    if (
+        len(header) != 26
+        or header[:8] != b"\x89PNG\r\n\x1a\n"
+        or header[12:16] != b"IHDR"
+        or header[24:26] != b"\x08\x02"
+        or struct.unpack(">II", header[16:24]) != (color["width"], color["height"])
+    ):
+        raise ValueError("Remote color must be an RGB8 PNG at the profile resolution")
+    key = "color" if content else "file"
+    result = {key: data[key], "timestamp": value}
+    if profile["type"] == "rgb":
+        return result
+    depth = profile["intrinsics"]["depth"]
+    if depth["registration"] != "color" or depth["quantity"] != "z" or depth["invalid_value"] != 0:
+        raise ValueError("RoboCasa serves color-registered optical Z with zero invalid")
+    width, height = depth["width"], depth["height"]
+    expected = f"P5\n{width} {height}\n65535\n".encode()
+    key = "depth" if content else "depth_file"
+    if content:
+        raw = base64.b64decode(data[key], validate=True)
+    else:
+        with Path(data[key]).open("rb") as handle:
+            raw = handle.read(len(expected) + width * height * 2 + 1)
+    if not raw.startswith(expected) or len(raw) != len(expected) + width * height * 2:
+        raise ValueError("Remote depth must be PGM16 at the profile resolution")
+    limits = depth["valid_range_m"]
+    if any(
+        pixel != depth["invalid_value"]
+        and not limits["min"] <= pixel * depth["scale_m_per_unit"] <= limits["max"]
+        for (pixel,) in struct.iter_unpack(">H", raw[len(expected) :])
+    ):
+        raise ValueError("Remote depth exceeds the declared valid range")
+    return {**result, key: data[key]}
+
+
+def arrays(data, profile):
+    import numpy as np
+    from PIL import Image
+
+    result = dict(data)
+    for key in ("color", "depth") if profile["type"] == "rgbd" else ("color",):
+        raw = base64.b64decode(data[key], validate=True)
+        with Image.open(io.BytesIO(raw)) as image:
+            result[key] = np.array(
+                image, dtype=np.uint8 if key == "color" else np.uint16, copy=True
+            )
+    return result
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/_roboenv.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/_roboenv.py
new file mode 100644
index 0000000000000000000000000000000000000000..62fe4fea7250765be2a88c30c271bf247c8ad1e3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/_roboenv.py
@@ -0,0 +1,530 @@
+"""Portable driver dialog and transport, shared by one exported device collection."""
+
+import base64
+import contextlib
+import http.client
+import json
+import os
+import secrets
+import shutil
+import signal
+import socket
+import sys
+import tempfile
+import threading
+import time
+from concurrent.futures import ThreadPoolExecutor, wait
+from functools import cached_property
+from pathlib import Path
+from urllib.parse import quote, urlsplit
+
+MAX_BYTES = 8 * 1024 * 1024
+
+
+class WireError(RuntimeError):
+    def __init__(self, message, code, request_id, details=None):
+        super().__init__(message)
+        self.code, self.request_id, self.details = code, request_id, details
+
+
+class Transport:
+    def __init__(self, driver, *, device=None):
+        self.directory = Path(driver).resolve().parent
+        self.device = device
+        self._local = threading.local()
+        self._connections = set()
+        self._connections_lock = threading.Lock()
+        self.connection = None
+        self.last_exchange = 0
+        self.used = False
+        self.unloaded = False
+        self.deadline = None
+        self._motions = {}
+        self._motion_lock = threading.Lock()
+        self._motion_error = None
+
+    @property
+    def connection(self):
+        return getattr(self._local, "connection", None)
+
+    @connection.setter
+    def connection(self, value):
+        self._local.connection = value
+        if value is not None:
+            with self._connections_lock:
+                self._connections.add(value)
+
+    @property
+    def last_exchange(self):
+        return getattr(self._local, "last_exchange", 0)
+
+    @last_exchange.setter
+    def last_exchange(self, value):
+        self._local.last_exchange = value
+
+    def close_all(self):
+        with self._connections_lock:
+            connections, self._connections = self._connections, set()
+        for connection in connections:
+            if connection.sock is not None:
+                with contextlib.suppress(OSError):
+                    connection.sock.shutdown(socket.SHUT_RDWR)
+            connection.close()
+
+    @cached_property
+    def profile(self):
+        import yaml
+
+        return yaml.safe_load((self.directory / "profile.yaml").read_text())
+
+    def settings(self):
+        return self.profile
+
+    @cached_property
+    def config(self):
+        file = self.directory / "connection.json"
+        return (
+            json.loads(file.read_text())
+            if file.is_file()
+            else {
+                "endpoint": os.environ.get("ROBOENV_ENDPOINT"),
+                "socket": os.environ.get("ROBOENV_SOCKET"),
+                "session": os.environ.get("ROBOENV_SESSION"),
+                "generation": int(os.environ.get("ROBOENV_GENERATION", "0")),
+            }
+        )
+
+    @cached_property
+    def endpoint(self):
+        if self.config.get("endpoint") or self.config.get("socket"):
+            return self.config.get("endpoint")
+        return self.settings()["access"]["connection"]["url"]
+
+    @cached_property
+    def identity(self):
+        identity = {
+            "protocol": "roboenv/1",
+            "session": self.config.get("session") or "roboenv",
+            "generation": self.config.get("generation", 0),
+        }
+        if self.endpoint and not self.config.get("session"):
+            try:
+                found = json.loads(self.exchange(self.endpoint, "GET"))
+                if (
+                    not isinstance(found, dict)
+                    or found.get("protocol") != "roboenv/1"
+                    or not isinstance(found.get("session"), str)
+                    or type(found.get("generation")) is not int
+                    or found["generation"] < 0
+                ):
+                    raise ValueError("Endpoint returned an invalid environment identity")
+                identity = {key: found[key] for key in identity}
+            except Exception:
+                self.close()
+                raise
+        return identity
+
+    @cached_property
+    def target(self):
+        if self.device is not None:
+            return self.device
+        profile = self.settings()
+        key = "camera" if profile["type"] in {"rgb", "rgbd"} else "device"
+        return profile["access"]["connection"][key]
+
+    @cached_property
+    def can_stop(self):
+        return "stop" in self.settings()["access"]["driver"]["actions"]
+
+    def close(self):
+        if self.connection is not None:
+            with self._connections_lock:
+                self._connections.discard(self.connection)
+            self.connection.close()
+            self.connection = None
+
+    def timeout(self):
+        if self.deadline is None:
+            return 605
+        remaining = self.deadline - time.monotonic()
+        if remaining <= 0:
+            raise TimeoutError("Driver cleanup deadline exceeded")
+        return remaining
+
+    def exchange(self, endpoint, method, path="/", body=None, destination=None):
+        if self.connection is not None and time.monotonic() - self.last_exchange >= 5:
+            self.close()
+        try:
+            if self.connection is None:
+                url = urlsplit(endpoint)
+                if (
+                    url.scheme not in {"http", "https"}
+                    or not url.hostname
+                    or url.username is not None
+                    or url.password is not None
+                    or url.path not in {"", "/"}
+                    or url.query
+                    or url.fragment
+                ):
+                    raise ValueError("Expected an HTTP(S) device endpoint")
+                cls = (
+                    http.client.HTTPSConnection
+                    if url.scheme == "https"
+                    else http.client.HTTPConnection
+                )
+                self.connection = cls(url.hostname, url.port, timeout=self.timeout())
+            self.connection.timeout = self.timeout()
+            if self.connection.sock is not None:
+                self.connection.sock.settimeout(self.timeout())
+            self.connection.request(
+                method, path, body=body, headers={"Content-Type": "application/json"}
+            )
+            response = self.connection.getresponse()
+            if response.status != 200:
+                raise RuntimeError(f"HTTP {response.status}")
+            expected = response.length
+            if expected is None:
+                raise ValueError("Response requires Content-Length")
+            if destination is None:
+                raw = response.read(MAX_BYTES + 1)
+                if len(raw) > MAX_BYTES or len(raw) != expected:
+                    raise ValueError(
+                        "Oversized or incomplete response; use output='file' for large images"
+                    )
+            else:
+                size = 0
+                with destination.open("wb") as stream:
+                    while chunk := response.read(65536):
+                        size += stream.write(chunk)
+                if size != expected:
+                    raise ValueError("Incomplete artifact")
+                raw = None
+            self.last_exchange = time.monotonic()
+            if response.will_close:
+                self.close()
+            return raw
+        except BaseException:
+            # Also discard an interrupted request before SIGTERM cleanup uses the wire.
+            self.close()
+            if destination is not None:
+                destination.unlink(missing_ok=True)
+            raise
+
+    def cancel_motions(self):
+        with self._motion_lock:
+            identities = set(self._motions.values())
+            self._motions.clear()
+        for identity in identities:
+            self.remote("cancel_motion", {"execution_id": identity})
+
+    def write(self, args, reading):
+        """Validate accepted motion feedback, cancelling only this request on failure."""
+        if self._motion_error is not None:
+            raise self._motion_error
+        request_id = f"driver-{secrets.token_hex(8)}"
+        accepted = False
+        try:
+            data = self.remote("write", args, request_id=request_id)
+            accepted = True
+            if not isinstance(data, dict) or data.get("execution_id") != request_id:
+                raise ValueError("motion must return its execution_id")
+            if not isinstance(data.get("state"), dict):
+                raise ValueError("motion must return measured state")
+            return {**data, "state": reading(data["state"])}
+        except Exception as error:
+            if not accepted and not (
+                isinstance(error, WireError) and error.code == "outcome_unknown"
+            ):
+                raise
+            try:
+                result = self.remote("cancel_motion", {"execution_id": request_id})
+                if not isinstance(result, dict) or type(result.get("stopped")) is not bool:
+                    raise ValueError("Remote cancellation was not acknowledged")
+            except Exception as cleanup:
+                self._motion_error = WireError(
+                    f"{error}; cancellation failed: {cleanup}", "stop_failed", request_id,
+                    {"effects": "unknown", "validation_error": str(error),
+                     "cleanup_error": str(cleanup)},
+                )
+                raise self._motion_error from cleanup
+            with self._motion_lock:
+                if self._motions.get(self.target) == request_id:
+                    self._motions.pop(self.target)
+            raise
+
+    def remote(self, action, args, *, image_output="file", request_id=None):
+        identity = self.identity
+        if request_id is None:
+            request_id = secrets.token_hex(8)
+            if action == "wait":
+                request_id = getattr(self._local, "request_id", request_id)
+            request_id = f"driver-{request_id}"
+        request = {
+            **identity,
+            "request_id": request_id,
+            "deadline_s": 600 if self.deadline is None else self.timeout(),
+            "op": {"cancel_motion": "devices.cancel"}.get(action, "devices.call"),
+            "args": args
+            if action == "cancel_motion"
+            else {"device": self.target, "action": action, "args": args},
+        }
+        payload = json.dumps(request, allow_nan=False).encode() + b"\n"
+        if len(payload) > MAX_BYTES:
+            raise ValueError("Device request is too large")
+        if action in {"write", "wait"}:
+            with self._motion_lock:
+                self._motions[request_id if action == "wait" else self.target] = request_id
+        self.used, self.unloaded = True, False
+        # A broken connection never causes this request to be resubmitted.
+        try:
+            if self.endpoint:
+                raw = self.exchange(self.endpoint, "POST", body=payload)
+            else:
+                with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+                    sock.settimeout(self.timeout())
+                    sock.connect(self.config["socket"])
+                    sock.sendall(payload)
+                    with sock.makefile("rb") as stream:
+                        raw = stream.readline(MAX_BYTES + 1)
+            response = json.loads(raw)
+            if (
+                len(raw) > MAX_BYTES
+                or not raw.endswith(b"\n")
+                or any(response.get(key) != request[key] for key in (*identity, "request_id"))
+                or type(response.get("generation")) is not int
+                or type(response.get("ok")) is not bool
+            ):
+                raise ValueError("Incomplete or mismatched device response")
+            if response["ok"] and (
+                not isinstance(response.get("result"), dict) or "data" not in response["result"]
+            ):
+                raise ValueError("Device response has no result data")
+            if not response["ok"] and not isinstance(response.get("error"), dict):
+                raise ValueError("Device response has no error details")
+        except Exception as exc:
+            self.close()
+            raise WireError(str(exc), "outcome_unknown", request_id) from exc
+        if action == "wait":
+            with self._motion_lock:
+                self._motions.pop(request_id, None)
+        if not response["ok"]:
+            error = response["error"]
+            raise WireError(
+                error.get("message", str(error)),
+                error.get("code"),
+                request_id,
+                error.get("details"),
+            )
+        self.unloaded = action == "unload"
+        if action == "load":
+            self._motion_error = None
+        data = response["result"]["data"]
+        if "simulation" in response["result"] and isinstance(data, dict):
+            data = {**data, "simulation": response["result"]["simulation"]}
+        if (
+            action == "read"
+            and isinstance(data, dict)
+            and data.get("file")
+            and image_output != "file"
+        ):
+            data = dict(data)
+            for key, target in (("file", "color"), ("depth_file", "depth")):
+                if data.get(key):
+                    file = data.pop(key)
+                    if self.endpoint:
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(Path(file).name)}"
+                        )
+                        raw = self.exchange(self.endpoint, "GET", route)
+                    else:
+                        raw = Path(file).read_bytes()
+                    data[target] = base64.b64encode(raw).decode("ascii")
+        elif self.endpoint and action == "read" and isinstance(data, dict) and data.get("file"):
+            directory = Path(tempfile.mkdtemp(prefix="roboenv-images-"))
+            try:
+                for key in ("file", "depth_file"):
+                    if data.get(key):
+                        name = Path(data[key]).name
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(name)}"
+                        )
+                        self.exchange(self.endpoint, "GET", route, destination=directory / name)
+                        data[key] = str(directory / name)
+            except BaseException:
+                shutil.rmtree(directory)
+                raise
+        if self.unloaded:
+            self.close()
+        return data
+
+
+def main(handle, transport):
+    serving = "--serve" in sys.argv
+    can_stop = transport.can_stop if serving else False
+    pools = {}
+    writes = []
+    pending = set()
+    output_lock = threading.Lock()
+    stop_tail = None
+
+    def respond(action, args):
+        try:
+            if not isinstance(action, str) or not isinstance(args, dict):
+                raise ValueError("Expected an action name and an arguments object")
+            return handle(action, args)
+        except Exception as exc:
+            return {"ok": False, "error": str(exc)}
+
+    def terminate(_signum, _frame):
+        raise SystemExit(0)
+
+    def expired(_signum, _frame):
+        raise TimeoutError("Driver cleanup exceeded 500 ms")
+
+    previous = signal.signal(signal.SIGTERM, terminate) if serving else None
+    # Keep the response descriptor private; native SDK writes to fd 1 are logs too.
+    sys.stdout.flush()
+    with os.fdopen(os.dup(sys.stdout.fileno()), "w") as output:
+        os.dup2(sys.stderr.fileno(), sys.stdout.fileno())
+        try:
+            with contextlib.redirect_stdout(sys.stderr):
+                try:
+                    if serving:
+                        pools = {
+                            name: ThreadPoolExecutor(max_workers=count)
+                            for name, count in (
+                                ("read", 8),
+                                ("write", 1),
+                                ("stop", 1),
+                                ("capture", 1),
+                            )
+                        }
+
+                        def send(request, cancel=None, predecessor=None):
+                            transport._local.request_id = request["id"]
+                            if predecessor is not None:
+                                predecessor.result()
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "queued write interrupted by stop"}
+                            else:
+                                result = respond(request["action"], request.get("args", {}))
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "device write interrupted by stop"}
+                            with output_lock:
+                                output.write(
+                                    json.dumps({**result, "id": request["id"]}, allow_nan=False)
+                                    + "\n"
+                                )
+                                output.flush()
+
+                        for line in sys.stdin:
+                            try:
+                                request = json.loads(line)
+                                if not isinstance(request, dict) or not isinstance(
+                                    request.get("id"), str
+                                ):
+                                    raise ValueError(
+                                        "persistent requests require a string id; "
+                                        "migrate the caller"
+                                    )
+                            except ValueError as error:
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": None, "ok": False, "error": str(error)})
+                                        + "\n"
+                                    )
+                                    output.flush()
+                                break
+                            target = request.get("interrupt")
+                            if isinstance(target, str):
+                                transport.remote(
+                                    "cancel_motion", {"execution_id": f"driver-{target}"}
+                                )
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            if target is True:
+                                for _, event in writes:
+                                    event.set()
+                                if any(not future.done() for future, _ in writes):
+                                    transport.cancel_motions()
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            action = request["action"]
+                            pending = {future for future in pending if not future.done()}
+                            writes = [
+                                (future, event) for future, event in writes if not future.done()
+                            ]
+                            if action in {"stop", "unload"}:
+                                for _, event in writes:
+                                    event.set()
+                            if action in {"load", "unload"}:
+                                if (
+                                    action == "unload"
+                                    and can_stop
+                                    and any(not future.done() for future, _ in writes)
+                                ):
+                                    respond("stop", {})
+                                if action == "unload":
+                                    transport.cancel_motions()
+                                wait(pending)
+                                send(request)
+                                continue
+                            kind = (
+                                "read"
+                                if action in {"read", "wait", "status", "fk", "ik"}
+                                else "stop"
+                                if action == "stop"
+                                else "capture"
+                                if action in {"record_start", "record_stop"}
+                                else "write"
+                            )
+                            cancel = (
+                                threading.Event() if kind == "write" or action == "wait" else None
+                            )
+                            future = pools[kind].submit(
+                                send, request, cancel, stop_tail if kind == "write" else None
+                            )
+                            if kind == "stop":
+                                stop_tail = future
+                            pending.add(future)
+                            if cancel is not None:
+                                writes.append((future, cancel))
+                        wait(pending - {future for future, _ in writes})
+                        return
+                    action = sys.argv[1] if len(sys.argv) > 1 else "read"
+                    args = json.loads(sys.argv[2]) if len(sys.argv) > 2 else {}
+                    output.write(json.dumps(respond(action, args), allow_nan=False) + "\n")
+                    output.flush()
+                finally:
+                    for _, event in writes:
+                        event.set()
+                    if serving:
+                        signal.signal(signal.SIGTERM, signal.SIG_IGN)
+                        alarm = signal.signal(signal.SIGALRM, expired)
+                        transport.deadline = time.monotonic() + 0.5
+                        signal.setitimer(signal.ITIMER_REAL, 0.5)
+                        try:
+                            if transport.used and not transport.unloaded:
+                                transport.cancel_motions()
+                        except Exception as exc:
+                            print(str(exc), file=sys.stderr)
+                        finally:
+                            signal.setitimer(signal.ITIMER_REAL, 0)
+                            signal.signal(signal.SIGALRM, alarm)
+                    transport.close_all()
+                    for pool in pools.values():
+                        pool.shutdown(wait=True, cancel_futures=True)
+        finally:
+            os.dup2(output.fileno(), sys.stdout.fileno())
+            if serving:
+                signal.signal(signal.SIGTERM, previous)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..9043bbb975cc1a106ce32fdbaec45111432e97ac
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "e0137f74fdea8453", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..1b14c538ba45789fb1cb30c1ac736bb6a0e58760
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/driver.py
@@ -0,0 +1,29 @@
+"""Generic remote device adapter; transport and dialog are shared with typed drivers."""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__, device=Path(__file__).parent.name)
+remote = transport.remote
+
+
+def handle(action, args):
+    try:
+        if action == "unload" and transport.can_stop:
+            stopped = remote("stop", {})
+            if stopped.get("stopped") is not True:
+                raise ValueError("Remote device did not acknowledge stop")
+        data = remote(action, args)
+        return {**(data if isinstance(data, dict) else {"result": data}), "ok": True}
+    except WireError as exc:
+        return {"ok": False, "error": str(exc), "code": exc.code, "request_id": exc.request_id}
+    except Exception as exc:
+        return {"ok": False, "error": str(exc)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/intrinsics.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/intrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6feaff33958e70960ab37be13c5e73a304dd810
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/intrinsics.json
@@ -0,0 +1,297 @@
+{
+  "instrument": {
+    "asset_id": "instrument.ika_plate_rctdigital",
+    "catalog_id": "CHEM-008",
+    "domain": "Basic Metrology & Sample Handling",
+    "manufacturer": "IKA",
+    "model": "Plate RCT digital",
+    "name": "Magnetic hotplate stirrer",
+    "release": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "size_m": [
+      0.16,
+      0.27,
+      0.0849
+    ],
+    "state_slots": {
+      "clock.time_s": {
+        "unit": "s",
+        "value_schema": {
+          "type": "number",
+          "x-unit": "s"
+        }
+      },
+      "display.message": {
+        "unit": "1",
+        "value_schema": {
+          "maxLength": 80,
+          "type": "string"
+        }
+      },
+      "display.safe_temperature": {
+        "unit": "degC",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "degC"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "display.set_speed": {
+        "unit": "rpm",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "rpm"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "display.set_temperature": {
+        "unit": "degC",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "degC"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "display.speed": {
+        "unit": "rpm",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "rpm"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "display.temperature": {
+        "unit": "degC",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "degC"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "display.timer": {
+        "unit": "1",
+        "value_schema": {
+          "maxLength": 80,
+          "type": "string"
+        }
+      },
+      "display.visc_trend": {
+        "unit": "%",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "%"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "error.code": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "maximum": 99,
+              "minimum": 1,
+              "type": "integer",
+              "x-unit": "1"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "heating.control": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "plate",
+            "pid",
+            "2p"
+          ],
+          "type": "string"
+        }
+      },
+      "heating.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "heating.set_k": {
+        "unit": "K",
+        "value_schema": {
+          "maximum": 583.15,
+          "minimum": 273.15,
+          "type": "number",
+          "x-unit": "K"
+        }
+      },
+      "indicator.beep": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.heating": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.hot": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.lock": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.motor": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.sensor": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "indicator.standby": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "interface.state": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "lock.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "menu.state": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "plant.configured": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "power.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "safety.limit_k": {
+        "unit": "K",
+        "value_schema": {
+          "type": "number",
+          "x-unit": "K"
+        }
+      },
+      "sensor.calibration": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "sensor.state": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "stirring.on": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "stirring.pattern": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "stirring.set_rad_s": {
+        "unit": "rad/s",
+        "value_schema": {
+          "maximum": 157.07963267948966,
+          "minimum": 0.0,
+          "type": "number",
+          "x-unit": "rad/s"
+        }
+      },
+      "timer.state": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "vessel.state": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "object"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      }
+    }
+  },
+  "source": "user"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..95415a039a89d60f399a0341a95621aede9cec42
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/instrument/profile.yaml
@@ -0,0 +1,68 @@
+name: instrument
+type: other
+intrinsics:
+  source: user
+extrinsics:
+  calibrated_at: null
+  method: manual
+  mount:
+    parent: world
+    parent_frame: world
+    rotation_xyzw:
+    - 0
+    - 0
+    - 0
+    - 1
+    translation_m:
+    - 0
+    - 0
+    - 0
+  source: user
+meta:
+  created_at: '2026-10-23T06:05:33.308196+00:00'
+  updated_at: '2026-10-23T06:05:33.308196+00:00'
+access:
+  source: user
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: instrument
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - events_read
+    - heating_set
+    - heating_set_mode
+    - heating_set_temperature
+    - heating_toggle
+    - interface_set
+    - load
+    - lock_toggle
+    - menu_configure
+    - namur_send
+    - operation_cancel
+    - operation_poll
+    - panel_capture
+    - panel_press
+    - panel_switch
+    - panel_turn
+    - power_set
+    - power_toggle
+    - read
+    - safety_set_limit
+    - sensor_calibrate_two_point
+    - sensor_reset_calibration
+    - sensor_set
+    - status
+    - stirring_configure
+    - stirring_set
+    - stirring_set_speed
+    - stirring_toggle
+    - timer_clear
+    - timer_set
+    - timer_toggle
+    - unload
+    - vessel_place
+    - vessel_remove
+    - viscosity_reset
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..9043bbb975cc1a106ce32fdbaec45111432e97ac
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "e0137f74fdea8453", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd94061b26ce7bffb5a4862b68dc7e4561c5b4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/driver.py
@@ -0,0 +1,27 @@
+"""World read returns time_s and optional budget {used_s, max_s}.
+Wait returns time_s and waited_s; transport preserves clock precision.
+"""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__)
+
+
+def handle(action, args):
+    try:
+        if action not in {"read", "wait", "load", "unload", "status"}:
+            raise ValueError(f"Unsupported world action: {action}")
+        return {"ok": True, **transport.remote(action, args)}
+    except WireError as error:
+        return {"ok": False, "error": str(error), "code": error.code}
+    except Exception as error:
+        return {"ok": False, "error": str(error)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d1fb900ca233726fd5c1a720be993e355fe152b5
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/devices/world/profile.yaml
@@ -0,0 +1,28 @@
+name: world
+type: world
+intrinsics:
+  bounds: null
+  calibrated_at: null
+  method: manual
+  source: user
+  surfaces: []
+meta:
+  created_at: '2026-10-23T06:05:33.312763+00:00'
+  updated_at: '2026-10-23T06:05:33.312763+00:00'
+access:
+  source: user
+  method: unknown
+  calibrated_at: null
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: world
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - load
+    - read
+    - status
+    - unload
+    - wait
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/memos/chemlab-hotplate.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/memos/chemlab-hotplate.md
new file mode 100644
index 0000000000000000000000000000000000000000..5a576d7456e32a0bd4308df34bf0919f27a7fa50
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/memos/chemlab-hotplate.md
@@ -0,0 +1,7 @@
+# ChemLab hotplate stirring
+
+- Inspect current task with `roboenv describe --endpoint "$ROBOENV_ENDPOINT"`; action schemas are available via `roboenv devices --name instrument --endpoint "$ROBOENV_ENDPOINT"` (profiles list actions but not their arguments).
+- Use Kinex instrument reads/commands. Read first; then `power_set({on:true})`, `stirring_set_speed({speed_rad_s:62.831853})`, `stirring_set({on:true})` for 600 rpm. These are sequential synchronous operations; successful results report status `succeeded`. Speed may quantize to 62.83185307179586 rad/s.
+- Feedback is `observations` keyed by `display.speed` (rpm), `power.on`, `stirring.on`, `error.code`. Each slot includes value, quality and sample_time_s. Require displayed speed within target tolerance over the requested simulation-time dwell, not just accepted commands. Poll with small world waits; reset dwell on out-of-band samples. No heating or vessel manipulation needed for the basic stirring task.
+- Realtime simulation advances between calls and may automatically become terminal before polling finishes. `Episode finished` from world.wait is not proof of failure: inspect `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json`, then finalize/retrieve judgment with `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json`. Never reset/retry a terminal attempt. Status has no success judgment; stop does.
+- This sequence was confirmed successful for the 600 rpm / ±10 rpm / one simulation-second task by final judgment, despite world.wait reporting episode_finished during verification.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/workspace.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/workspace.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d9f590b55b7e0b2cd2b76f94c502d3dda10c7a6a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/.kinex/workspace.yaml
@@ -0,0 +1,21 @@
+identity:
+  source: user
+  id: isaaclab-chemlab-instruments
+  name: ChemLab instrument workstation
+  platform: sim
+  kind: other
+  model: No robot; instrument command interface
+sim:
+  source: user
+  simulator: isaaclab
+  notes: Use read for sensor observations and declared instrument commands for operations.
+    World wait advances all instruments. No owner state, reset, or evaluator commands
+    are public.
+devices:
+  source: user
+safety:
+  source: user
+  notes: Follow instruction.md for task-specific limits.
+meta:
+  created_at: '2026-10-02T07:16:00Z'
+  updated_at: '2026-10-02T07:16:00Z'
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/instruction.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/instruction.md
new file mode 100644
index 0000000000000000000000000000000000000000..e01db1ed9688a0bf1f3e32288632359a2f72e4af
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/03-hotplate-stirring/workspace/instruction.md
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-hotplate-stirring
+
+Power on stirring at 600 rpm (62.831853 rad/s). Wait until the displayed speed is within 10 rpm for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/effective-model.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/effective-model.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd5f31d814b342867be5dfab7a35cdcd306a730
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/effective-model.json
@@ -0,0 +1,392 @@
+{
+  "kinex_identity": "feb75f7c3c2c08976c25f274402da6d40cf83a6ed4c0ac38ddebec3cb8046ded",
+  "kinex_version": "1.0.0",
+  "kinex_source": {
+    "content_sha256": "f8fdd75011d20dfc12347cc27a17afc39764156a493627e65927d560b4226b04",
+    "files": {
+      ".nvmrc": "3151949a8b43e7df5385b69fbaeb5652bbdc7f7924e4278d550348f42b103f13",
+      "LICENSE": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30",
+      "THIRD_PARTY_NOTICES.txt": "2944e27dd41e38a2199e1f8c49f160441ff175da9920d7449641395d609eaad1",
+      "VERSION": "59854984853104df5c353e2f681a15fc7924742f9a2e468c29af248dce45ce03",
+      "assets/architecture.svg": "811cf19761e03c094d86acafdda31eb0739969ca5f1a84ba995d029897addff5",
+      "assets/kinex-logo-day.svg": "09eb0aa992af9b325a204d2b1ad6a6d75c181aa5abd4f4dd2bde8c8dfcfd1154",
+      "assets/kinex-logo-night.svg": "30a2e735991dc7e0ae321f23501c86ad3f4c4494db2b8daec9059e2d8214d31e",
+      "assets/kinex-logo-text-day.svg": "80b33e8606b8b58fc4e8fe73b3c5f4d63722ee9ad180587c9707338ee8e708c2",
+      "assets/kinex-logo-text-night.svg": "b3d3244f4215d74134a0dbbcc31f497fe7d80fb0090f3e5bdba761b9595788b7",
+      "bin/kinex.mjs": "2d09ca8a4ef0dda6d409b798b529c51adc0176da94debbef847f7fb33d3e3211",
+      "package-lock.json": "634aabb5beae712a713aaf5c55e19f0aa2960b9571c13d427eb6f887b5804589",
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+    },
+    "mode": "git",
+    "ref": "15207927c6669fe98f1213a3fd05148e0fe938d3",
+    "revision": "15207927c6669fe98f1213a3fd05148e0fe938d3"
+  },
+  "model": "openai-codex/gpt-6-astra",
+  "effort": "high",
+  "service_tier": "default",
+  "fresh_session": true,
+  "max_steps": null,
+  "model_recording": false,
+  "compaction": "native",
+  "transport": "sse",
+  "strict_usage": true,
+  "max_request_retries": 50,
+  "usage_accounting": "reported-responses"
+}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/instruction.txt b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/instruction.txt
new file mode 100644
index 0000000000000000000000000000000000000000..abb61ef86c28fc690878d533922808dcd5e97eee
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/instruction.txt
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-balance-power
+
+Power on the analytical balance and obtain a stable reading for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/kinex.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/kinex.log
new file mode 100644
index 0000000000000000000000000000000000000000..e56af86cea3830cf882cb86dbf408e7ed0271f8e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/kinex.log
@@ -0,0 +1 @@
+Completed successfully: the balance was powered on and the one-second stable-reading requirement was met. Final simulation judgment: **success**.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/provider-requests.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/provider-requests.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab03932e26f5f4169d93c9685e3f6d986302adaf
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/provider-requests.jsonl
@@ -0,0 +1,71 @@
+{"schema":"rlebench/pi-provider-audit/1","timestamp":"2026-10-23T06:09:10.259Z","sequence":1,"event":"audit.started","usage_source":"provider-raw","transport":"sse","accounting":"reported-responses","max_request_retries":50}
+{"schema":"rlebench/pi-provider-audit/1","timestamp":"2026-10-23T06:09:10.410Z","sequence":2,"event":"request.prepared","request_id":"36900c94-0b01-4024-aeb4-d16aabb96e3f","observation":"pi-on-payload","provider":"openai-codex","model":"gpt-6-astra","service_tier":"default","reasoning_effort":"high","prompt_cache_key_sha256":"4b6df81224cfe721882f7a6c35e541069b1112ec1914d234bbfd690934dca0b5","prompt_cache_retention":null,"payload_sha256":"c498e517a5f6b5344a17311b07324df5630d50c84624cef75284ca18aafc1da5","request_identity":"local-stream-call"}
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session-export.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session-export.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc97ec3c0b8a4d2eab614df9e6ad6758eef6c4e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session-export.json
@@ -0,0 +1 @@
+{"complete": true, "trace": "trace.json", "native": "session.jsonl", "provider_audit": "provider-requests.jsonl"}
\ No newline at end of file
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b0e78adc861d3fb74067c19a4a40f4ece1176a4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session.jsonl
@@ -0,0 +1,39 @@
+{"type":"session","version":3,"id":"01a16760-a655-7538-b66f-bf64d31971c8","timestamp":"2026-10-23T06:09:09.718Z","cwd":"/workspace"}
+{"type":"model_change","id":"1c5aa4dc","parentId":null,"timestamp":"2026-10-23T06:09:10.257Z","provider":"openai-codex","modelId":"gpt-6-astra"}
+{"type":"thinking_level_change","id":"ed7170aa","parentId":"1c5aa4dc","timestamp":"2026-10-23T06:09:10.257Z","thinkingLevel":"high"}
+{"type":"message","id":"5e69fb42","parentId":"ed7170aa","timestamp":"2026-10-23T06:09:10.390Z","message":{"role":"system","content":"","sections":{"preamble":"You are an expert coding assistant operating inside pi, a coding agent harness. You help users by reading files, executing commands, editing code, and writing new files.","tools":"<tools>\n- read: Read file contents\n- write: Create or overwrite files\n- edit: Make precise file edits with exact text replacement, including multiple disjoint edits in one call\n- bash: Execute bash commands (ls, grep, find, etc.)\n- grep: Search file contents for patterns (respects .gitignore)\n- find: Find files by glob pattern (respects .gitignore)\n- ls: List directory contents\n\nIn addition to the tools above, you may have access to other custom tools depending on the project.\n</tools>","rules":"<rules>\n- Use read to examine files instead of cat or sed.\n- Use write only for new files or complete rewrites.\n- Use edit for precise changes (edits[].oldText must match exactly)\n- When changing multiple separate locations in one file, use one edit call with multiple entries in edits[] instead of multiple edit calls\n- Each edits[].oldText is matched against the original file, not after earlier edits are applied. 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New custom tools and skills are discovered after each complete tool batch and before the next model request, including during the current task.\n\nUse the question tool for missing facts. If interviews are unavailable, keep unknown facts unknown rather than inventing user decisions.\n\n\n# Robotics\n\nDevices expose hardware or simulator interfaces; profiles define their facts and\ncapabilities. Only drivers access SDKs/services directly. Use the device tool or\nKinex device APIs for lifecycle, readings and commands.\n\nConsult each tool's description for its execution and completion semantics.\nSkills supply procedures that require judgment.\n\nMinimize unnecessary tool calls and motion while preserving reliable task completion and verification.\nWhen planning motion, account for intended contact and avoid unintended collisions along the full path.\n\nFollow the profiles' units, limits and declared safety constraints. Read state before\nmotion, use small/slow motions when uncertain, and do not assume missing profile\nfacts. Command acceptance or arrival does not establish task success.\n\nOn faults, unexpected contact or lost feedback, call device_stop before diagnosing.\nUse the tool permission flow; do not duplicate its approval request through questions.\nAsk only for missing facts, choices or physical feedback, and keep unknown facts\nunknown when the user cannot supply them.\n\n\nKinex core Python: use the executable and library paths from the current Python\ncontext for robotics scripts, setting PYTHONPATH only for that command. Default\nPython execution prepares missing environments automatically; existing environments\nrun directly. If dependencies are missing or need updating, repair the selected\nenvironment with uv add/uv sync using its project path. Explicit interpreters own\ntheir dependencies. Keep the ordinary shell environment unchanged.\n\n\n<device_conventions>\nRead profiles for parameters and injected type conventions for operations. Units and vector order follow the profile. ??? means unresolved; null follows its field and never means numeric zero.\nCustom per-device DEVICE.md files are allowed only for certain types.\nUse /register and setup-device to provision an unloaded device or repair its driver. Write facts through profile_write; preserve provenance and unknowns. Queue missing measurements with kind=needed and clear resolved requests explicitly with needs_calibration:null. New profiles remain unloaded; edits preserve activation intent. /unregister confirms removal of a device and its files.\nLoad inactive devices through the device tool or /load. status never starts services; unload releases resources. Python tools cannot change lifecycle. 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Cached readings retain it; compare timestamps only within the same clock.\nActuator writes submit a buffer with duration_s and return {execution_id, state}: an opaque submission ID and measured state, not completion. New writes replace pending references; stop clears affected buffers. Use world.wait to pace execution.\nSpecial devices like legged bases use mode as their single state/mode selector. control.device_modes declares the available modes and transitions. control.write and the custom Use guide declare supported fields, units and frames. Omit motion fields for state-only transitions; verify measured state readiness before motion.\nkinex.devices runs calls concurrently and preserves result order, without guaranteeing simultaneous sampling or atomic effects. Never retry uncertain writes.\n</device_conventions>\n\n\n# Task-scoped setup\n\nOnboarding prepares an embodiment through an agent-authored DAG. 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Use the\nprocedure descriptor returned by setup_plan full:true for roles and computations.\nCustom procedure code runs through existing host tools, not this offline registry.\n\nResults distinguish computation, quality and exact resolved fields.\nValid computed results that miss accuracy targets may still be accepted within\nthe user's accuracy/time budget. Do not repeat calibration solely to meet those\ntargets when the user accepts the result. Preserve measured errors and the original\nquality assessment; never treat missing or invalid results as approximate estimates.\nApply accepted proposedChanges with core profile_write, preserving unrelated facts.\nProposed patches never clear calibration requests automatically. A pivot solve\nmeasures translation only; RGB-D color calibration does not measure depth facts.\nURDF introspection is offline and does not require activation. Base verification\nuses explicit measured checks and tolerances, without controller tuning.\n\nArchive manual/factory facts or external solver results as evidence for setup_plan\nrecord. Reuse valid evidence and stop as soon as the current task is supported.\n\nBase measurement files contain required_checks:[name,...] and checks:[{name,\nexpected,measured,reference,...}]. reference names the archived source or independent\nmeasurement. Numerical expected/measured values need explicit tolerance and units.\nOther assertions compare exact values. Optional timestamps must contain at least\ntwo distinct increasing sample times. Only required_checks determine coverage;\nmissing checks fail quality. Do not claim untested axes or operating 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file path, relative to invocation directory or absolute"}},"required":["operation","measurements"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"calib_sample","description":"Read one sample into an isolated .kinex/calib/<run>/samples.json. Start with a plan\nnode or procedure plus bindings; subsequent samples use the returned run ID. The\ndevice must be one of the bound participants. Inputs and participants cannot change\nwithin an attempt. Returns the new sample, run ID and count; camera attachments are\ncopied into immutable attempt artifacts, including both RGB and depth files for\nRGBD readings. Both copies must succeed before a sample is appended.\nUse note to identify the collection step. Samples\ncontain measured state and timestamps; this tool cannot command or load devices.\n\nOptional settle waits for the declared measured velocity channels to remain below\nthe threshold over distinct samples. Unsupported/malformed feedback and faults are\nerrors. Cached readings do not establish stability. A timeout after a reading saves\nthat reading with settled:false; cancellation saves nothing. Without settle, the\nsample makes no claim of stationary motion. Settling supports joint devices,\ndexterous hands and velocity devices with declared measured velocity channels.\nThis blocking sampler does not advance simulator time; arrange world waits\noutside the sampler when collecting simulation evidence.\n\nFor joint devices, optional frame computes FK from that exact sample and stores\nkinematics with pose, frame and reference_frame:null alongside the measured data.\nUse it for TCP calibration; joint-device reads contain no frame poses. FK and\nartifact capture still run after a settle timeout, subject to caller cancellation.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","description":"device to sample, e.g. arm"},"run":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"procedure":{"type":"string","minLength":1},"bindings":{"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"args":{"description":"arguments for the driver action","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"frame":{"description":"joint-device frame to compute through FK from this sample","type":"string","minLength":1},"settle":{"description":"wait for the device to stop moving before recording; omit to record immediately","type":"object","properties":{"velocity_threshold":{"default":0.005,"description":"max |joint velocity| that counts as settled","type":"number","minimum":0},"stable_reads":{"default":3,"description":"consecutive settled reads required","type":"integer","exclusiveMinimum":0,"maximum":9007199254740991},"timeout_s":{"default":30,"type":"number","exclusiveMinimum":0}}},"note":{"description":"label stored with the sample, e.g. 'touch 3, rolled +45deg'","type":"string"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device","description":"Call a named device with action (default read) and args. Its profile declares operations, units and parameters. Prefer servo for arm goals and run_policy for synchronized action chunks. Servo waits its planned duration by default. Set block=false to return immediately. Verify arrival with measured feedback.\nLoad an inactive device before use. load/unload accept no arguments; status inspects readiness without starting services. Calls enforce device permissions. Python tools cannot load or unload devices.\nResults contain data and/or a file path. Camera reads accept output=\"file\", \"base64\", or \"array\". Direct reads default to base64 and attach the RGB image with camera identity and timestamp in every mode; no file-opening call is needed. Inside Python tools, reads default to arrays; base64 returns encoded images and file returns saved paths. Resolve named device:frame references with relative_pose. World read returns time_s and optional budget {used_s,max_s}: episode time consumed and allowed in seconds, with max_s null for no cap. Budget is driver-reported information, not enforced by Kinex. world.wait(duration_s) waits on the driver clock and returns time_s and waited_s for that wait, without a budget. Actuator writes take duration_s and return immediately; use world.wait to pace control.\nverbose defaults to true; false omits empty optional feedback while preserving faults, timestamps and unknown fields. compact selects single-line JSON.\n\nPython: device(deviceID, action=\"read\", args=None) returns data fields directly, plus file when present. Use devices for concurrent calls.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"compact":{"default":false,"description":"single-line JSON output — use in polling/sampling loops","type":"boolean"},"verbose":{"default":true,"description":"keep all result fields; false omits empty optional feedback","type":"boolean"}},"required":["deviceID"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"device_stop","description":"Stop the named device, or all loaded actuators when deviceID is omitted. Stops use\neach driver's declared behavior and affected-device scope. No approval is required.\nResults report each device's acknowledgment or failure; inspect failures before resuming.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"deviceID":{"description":"device to stop; omit to stop every loaded actuated device","type":"string"},"reason":{"description":"why the stop was triggered","type":"string"}},"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"devices","description":"Call devices concurrently with calls: [{deviceID, action?, args?}]; action defaults\nto read. Returns {results: [...]} in input order, with deviceID, action, ok and\ndata/file or error per entry. Python devices(calls) uses the same structure.\nCamera modes match device; attached images follow call order. Permissions are\nchecked before dispatch. Sampling is not simultaneous and effects are not atomic.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"calls":{"minItems":1,"type":"array","items":{"type":"object","properties":{"deviceID":{"type":"string","minLength":1},"action":{"default":"read","type":"string"},"args":{"default":{},"type":"object","propertyNames":{"type":"string"},"additionalProperties":{}}},"required":["deviceID"],"additionalProperties":false}}},"required":["calls"],"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"exec","description":"Run ordinary Python source or a script file with Kinex runtime access. Import device, devices, call, profile, robot, or Device from kinex. call(\"servo\", device=\"arm\", joints=target) and call(\"servo\", **params) take keyword arguments, not a positional dictionary; device(\"world\", \"wait\", {\"duration_s\": duration}) takes an argument dictionary. call composes Python tools or device/devices, not host tools. print() goes to output; finish(value, file=path_or_paths) returns JSON with one or more images in order.\n\nWhen the next decision needs images, control, wait as needed, read measured feedback, and capture selected cameras with output=\"file\" in the same script; return their paths through finish. Blocking servo already waits its planned duration; verify arrival instead of waiting it again. Printing paths does not attach images.\n\nUse bounded Python loops for feedback control, checking faults and missing feedback; call stop_owned() when ending a loop that must stop motion. Return images to the model when further control requires visual interpretation. Device lifecycle changes and recording tool calls are unavailable. Failure, timeout or cancellation stops owned motion; successful completion may leave motion running.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"description":{"description":"Short lowercase description of the task, for display","type":"string"},"python":{"description":"Python source, including multiline scripts; provide exactly one of python or file","type":"string","minLength":1},"file":{"description":"Script path, relative to the working directory or absolute","type":"string","minLength":1},"args":{"default":{},"description":"Values available through kinex.args()","type":"object","propertyNames":{"type":"string"},"additionalProperties":{}},"argv":{"default":[],"description":"Script command-line arguments","type":"array","items":{"type":"string"}},"interpreter":{"description":"Python executable; defaults to the managed Kinex Python environment","type":"string","minLength":1},"timeout_s":{"default":120,"type":"number","exclusiveMinimum":0,"maximum":2147483}},"additionalProperties":false,"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"locate_object_3d","description":"[perception tool, python] Locate an object in the camera optical frame (+X right, +Y down, +Z forward) using a detection or segmentation device with RGBD or explicit optical depth. Samples only inside a supplied mask; otherwise uses the central half of the box. Returns a representative point in metres, pixel, detection_score, depth_samples, and reference (visible_surface or box_region). Box estimates may include background. rotation_xyzw is null. No mount calibration is needed; convert frames with relative_pose after constructing a full local pose with an explicit orientation.\n\nDevice input camera: rgb | rgbd (checked against the selected device).\nDevice input model: detection | segmentation (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"camera":{"type":"string","description":"rgb or rgbd camera with calibrated color intrinsics"},"model":{"type":"string","description":"detection or segmentation device serving detect(image, prompt, min_score, max_results)"},"prompt":{"type":"string","minLength":1,"description":"object description, e.g. red mug"},"depth":{"type":"number","exclusiveMinimum":0,"description":"optional optical Z in metres at the representative region pixel; otherwise use the captured RGBD depth"},"min_score":{"type":"number","minimum":0,"maximum":1,"default":0.25,"description":"minimum detection score"},"instance":{"type":"integer","minimum":0,"default":0,"description":"zero-based index after filtering and sorting by descending score; ties keep model order"}},"required":["camera","model","prompt"]}},{"name":"profile_write","description":"Persist profile facts in the workspace:\n- robot: partial manifest; identity requires id, name, platform and kind initially.\n- device: partial profile; name is required, type on first write. Use setup-device and the selected guide for new devices.\n- needed: {item,note?}; queue the reason without changing existing provenance.\n\nPatches deep-merge. To switch a strict variant, supply the complete top-level section and list it in replace (e.g. [\"intrinsics\"]). Arrays replace wholesale. null removes an optional section only when listed in replace. Changing device type replaces its profile. Invalid updates are not saved.\n\nOutstanding requests persist across reads and replacements. Clear a resolved request with needs_calibration:null in its section; the store rejects clearing incomplete facts. Unknown required facts remain ???. Set source to the origin of the data; keep diagnostics in calibration evidence.\n\nNew devices use loaded:false; activation uses the device tool (action=\"load\") or /load, not profile edits. Profiles live at .kinex/devices/<name>/profile.yaml beside the driver, using the nearest .kinex/ in the current directory or its ancestors (the current directory's .kinex/ if none exists). Validation errors identify fields and the guide to consult.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"kind":{"type":"string","enum":["robot","device","needed"]},"replace":{"default":[],"description":"Supplied top-level sections to replace instead of merge; null removes optional sections","type":"array","items":{"type":"string"}},"data":{"type":"object","propertyNames":{"type":"string"},"additionalProperties":{},"description":"partial workspace manifest patch (identity required on first write) for kind=robot, partial device patch (must include name; type on first write) for kind=device, or {item, note?} for kind=needed"}},"required":["kind","data"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"relative_pose","description":"[perception tool, python] Express a frame-attached child pose in a frame-attached parent pose. Input and returned poses are [x,y,z,qx,qy,qz,qw], metres and unit quaternion xyzw; omitted input poses are identity. Returns only pose, path and estimated_links. Resolves calibrated/live frames and optional call-local estimates; never invents missing connections or persists estimates.\n\nDevice input child.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input parent.frame: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].child: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).\nDevice input estimates[].parent: velocity | joint | gripper | dexterous_hand | suction | rgb | rgbd | force_torque | imu | world | other (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"parent":{"type":"object","additionalProperties":false,"properties":{"frame":{"type":"string","description":"Device or device:frame."},"pose":{"type":"array","items":{"type":"number"},"minItems":7,"maxItems":7,"default":[0,0,0,0,0,0,1]}},"required":["frame"]},"estimates":{"type":"array","description":"Temporary frame relations; paths prefer fewer estimated edges, then fewer total edges.","items":{"type":"object","additionalProperties":false,"properties":{"child":{"type":"string","minLength":1},"parent":{"type":"string","minLength":1},"translation_m":{"type":"array","items":{"type":"number"},"minItems":3,"maxItems":3},"rotation_xyzw":{"type":"array","items":{"type":"number"},"minItems":4,"maxItems":4}},"required":["child","parent","translation_m","rotation_xyzw"]}}},"required":["child","parent"]}},{"name":"run_policy","description":"[controller tool, python] Infer once and submit the shared valid action prefix concurrently. Returns actions_submitted, duration_s, execution_ids (device to submission ID) and ik_failure. Use max_actions to cap the execution horizon for receding horizon control. IK rejection returns normally, including an empty prefix, with diagnostic ik_failure (device, zero-based action_index, error), or null. Execution is asynchronous.\n\nDevice input model: model (checked against the selected device).\nDevice input command[].device: joint | gripper | dexterous_hand | suction (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"model":{"type":"string","description":"model device serving an \"infer\" action (obs -> action)"},"observation":{"type":"object","description":"Observation object matching the model's infer obs contract."},"inference_args":{"type":"object","description":"Additional infer arguments validated by the model operation; cannot override obs or task."},"command":{"type":"array","minItems":1,"description":"Devices in flat-vector split order; named action maps use device names. Cartesian chunks are converted through IK before any write.","items":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"joint","dexterous_hand":null,"gripper or suction device":null},"space":{"type":"string","enum":["device","pose","pose_delta"],"default":"device","description":"device: existing absolute joint/scalar values. pose: xyz + quaternion xyzw (7). pose_delta: translation metres + axis-angle rotation radians (6), accumulated from the starting pose. Cartesian modes require joint IK."},"frame":{"type":"string","description":"Cartesian reference frame, frozen at planning start; defaults to the device canonical frame. Rotation deltas left-compose in these axes."},"target_frame":{"type":"string","description":"Controlled frame, rigidly attached to the arm's kinematics.frame; defaults to that frame."}},"required":["device"]}},"task":{"type":"string","description":"task or goal handed to the model, e.g. a language instruction"},"action_hz":{"type":"number","exclusiveMinimum":0,"default":10,"description":"actions replayed per second of the device's own clock"},"max_actions":{"type":"integer","minimum":1,"description":"Execution horizon: submit at most the first N inferred actions, discarding the remainder before validation and IK. Omit to use the whole chunk. Each call infers anew from the supplied observation. IK rejection may shorten this prefix further."}},"required":["model","observation","command"]}},{"name":"servo","description":"[controller tool, python] Plan and submit a full joint trajectory for a joint device or dexterous hand. Blocks by default for the computed duration on a loaded world clock. Set block=false to return immediately. Results include device, execution_id, requested/IK-resolved target joints, computed duration_s and actions_submitted. Verify arrival with measured feedback. Later writes or stop can interrupt the plan.\n\nDevice input device: joint | dexterous_hand (checked against the selected device).\nDevice input world: world (checked against the selected device).","parameters":{"type":"object","additionalProperties":false,"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}},"required":["device"],"oneOf":[{"type":"object","additionalProperties":false,"required":["device","joints"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"joints":{"type":"array","items":{"type":"number"},"description":"absolute configuration in resolved model joint order; radians or metres by joint type"},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}},{"type":"object","additionalProperties":false,"required":["device","pose"],"properties":{"device":{"type":"string","description":"Joint or dexterous_hand device name."},"block":{"type":"boolean","default":true,"description":"Wait the computed trajectory duration before returning. Requires a loaded world clock; does not check arrival. Set false for non-blocking submission without a clock."},"world":{"type":"string","description":"World clock for block=true; defaults to the device named world."},"pose":{"type":"array","minItems":7,"maxItems":7,"items":{"type":"number"},"description":"pose [x,y,z,qx,qy,qz,qw] of kinematics.frame, in the device canonical frame unless frame is given; requires declared endpoint IK (finger geometry alone is insufficient)"},"frame":{"type":"string","description":"Pose source frame: device or device:frame; defaults to the device canonical frame."},"speedFraction":{"type":"number","exclusiveMinimum":0,"maximum":1,"description":"Fraction of resolved planning velocity and acceleration rates. Lower fractions lengthen the computed duration_s."},"max_velocity":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 1 rad/s or 0.1 m/s, capped by known limits."},"max_acceleration":{"oneOf":[{"type":"number","exclusiveMinimum":0},{"type":"array","items":{"type":"number","exclusiveMinimum":0},"minItems":1}],"description":"Planning rate in model order; defaults to 3 rad/s² or 0.3 m/s², capped by known limits. Defaults are tool policy, not hardware ratings."}}}]}},{"name":"setup_plan","description":"Inspect or maintain the agent-authored embodiment DAG. This is task-scoped planning,\nnever a gate on device operations. Read with full:true for the complete graph and\navailable procedure descriptors; the default shows only the current task's gaps.\nUse the returned revision for save/select/record; conflicting edits must be reread.\n\nSave version:1 nodes with IDs, kind prepare/calibrate/verify, skill, concrete device\nrole bindings, dependsOn IDs, input facts and expected output facts. A profile fact\nuses kind:profile, device (omit for workspace manifest), and JSON pointer; optional\nvalue requires an exact match. Use narrow profile pointers for both inputs and\noutputs, tracking only facts relevant to the node's conclusion. Keep volatile\nloaded/meta fields and live poses out of persistent calibration dependencies and\noutputs. File facts use paths relative to .kinex. Select a\ntask with objective, target node IDs and optional direct facts. Only the targets'\ndependency closure is required now; unrelated work stays deferred. task:null\ndefers all calibration. An empty targets list can describe a task requiring no\ncalibration. Skill descriptors list their exact roles, requirements and coverage.\n\nRecord done only after verifying persisted outputs and archiving supporting\nevidence files (paths relative to .kinex). Existing factory/model/calibration facts\ncan satisfy a node without new measurements. Partial results may satisfy a narrower\ntask: split broad nodes into independently useful outputs. Never mark deferred work\ndone or clear incomplete profile requests. Verification receipts describe evidence,\nnot safety certification. Revisions and stale evidence never prevent unrelated\noperations. Replan only relevant gaps and return to the task as soon as satisfied.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","oneOf":[{"type":"object","properties":{"action":{"type":"string","const":"read"},"full":{"default":false,"type":"boolean"}},"required":["action"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"save"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"plan":{"type":"object","properties":{"version":{"type":"number","const":1},"nodes":{"type":"array","items":{"type":"object","properties":{"id":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"title":{"type":"string","minLength":1},"kind":{"type":"string","enum":["prepare","calibrate","verify"]},"skill":{"type":"string","minLength":1},"bindings":{"default":{},"type":"object","propertyNames":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"additionalProperties":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"dependsOn":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"inputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"outputs":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}},"optional":{"default":false,"type":"boolean"}},"required":["id","title","kind","skill"],"additionalProperties":false}},"task":{"default":null,"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["version","nodes"],"additionalProperties":false}},"required":["action","revision","plan"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"select"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"task":{"anyOf":[{"type":"object","properties":{"objective":{"type":"string","minLength":1},"targets":{"default":[],"type":"array","items":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"}},"facts":{"default":[],"type":"array","items":{"oneOf":[{"type":"object","properties":{"kind":{"type":"string","const":"profile"},"device":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"pointer":{"type":"string","pattern":"^\\/(?:[^~]|~[01])*$"},"value":{}},"required":["kind","pointer"],"additionalProperties":false},{"type":"object","properties":{"kind":{"type":"string","const":"file"},"path":{"type":"string","minLength":1}},"required":["kind","path"],"additionalProperties":false}]}}},"required":["objective"],"additionalProperties":false},{"type":"null"}]}},"required":["action","revision","task"],"additionalProperties":false},{"type":"object","properties":{"action":{"type":"string","const":"record"},"revision":{"type":"integer","minimum":0,"maximum":9007199254740991},"node":{"type":"string","pattern":"^[a-zA-Z0-9][a-zA-Z0-9_-]*$"},"outcome":{"type":"object","properties":{"status":{"type":"string","enum":["done","partial","failed","needs-input"]},"note":{"type":"string","minLength":1},"evidence":{"minItems":1,"type":"array","items":{"type":"string","minLength":1}}},"required":["status","note","evidence"],"additionalProperties":false}},"required":["action","revision","node","outcome"],"additionalProperties":false}],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"skill","description":"Loads a skill by name and returns its full instructions. Skills are listed in the\n<available_skills> block of the current context; load one when its description matches the\ncurrent task, then follow its instructions.\n","parameters":{"$schema":"https://json-schema.org/draft/2020-12/schema","type":"object","properties":{"name":{"type":"string","description":"name of the skill to load"}},"required":["name"],"~standard":{"vendor":"zod","version":1,"jsonSchema":{}}}},{"name":"question","description":"Ask the user for missing facts or choices.","parameters":{"type":"object","required":["questions"],"properties":{"questions":{"type":"array","items":{"type":"object","required":["header","question","options"],"properties":{"header":{"type":"string"},"question":{"type":"string"},"options":{"type":"array","items":{"type":"object","required":["label"],"properties":{"label":{"type":"string"},"description":{"type":"string"}}}},"multiple":{"type":"boolean"}}}}}}}]}}
+{"type":"message","id":"6d463872","parentId":"5e69fb42","timestamp":"2026-10-23T06:09:10.391Z","message":{"role":"user","content":[{"type":"text","text":"# Task: isaaclab/chemlab-balance-power\n\nPower on the analytical balance and obtain a stable reading for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}],"timestamp":1792735750387}}
+{"type":"custom_message","customType":"kinex-context","content":"<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-4c41daff12ee400dade9e0f18c813b1a/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>","display":false,"details":{"core.conventions":"<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>","core.guides":"Device guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-4c41daff12ee400dade9e0f18c813b1a/config/device, /opt/kinex/packages/core/assets/builtin/device.","core.python":"{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}","core.recording":"","core.skills":"<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>","problems":""},"id":"0b1eace5","parentId":"6d463872","timestamp":"2026-10-23T06:09:10.391Z"}
+{"type":"message","id":"8d7bc7e5","parentId":"0b1eace5","timestamp":"2026-10-23T06:09:13.744Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_acce1fe5cae44389a5198407ce0762bb|fc_0c58bd1bdd3b672e016adafa0846e4819292e8191d45e6064c","name":"bash","arguments":{"command":"roboenv describe --endpoint \"$ROBOENV_ENDPOINT\" && printf '\\n---resources---\\n' && find .kinex -maxdepth 3 -type f | sort","timeout":20}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":12423,"output":58,"cacheRead":0,"cacheWrite":0,"reasoning":0,"totalTokens":12481,"cost":{"input":0.12423000000000001,"output":0.0029000000000000002,"cacheRead":0,"cacheWrite":0,"total":0.12713000000000002}},"stopReason":"toolUse","timestamp":1792735750407,"responseId":"resp_0c58bd1bdd3b672e016adafa06f0ac819287a384f0586dec8e","rawStopReason":"completed","durationMs":3337,"thinkingLevel":"high"}}
+{"type":"message","id":"b2a9a2b6","parentId":"8d7bc7e5","timestamp":"2026-10-23T06:09:14.017Z","message":{"role":"toolResult","toolCallId":"call_acce1fe5cae44389a5198407ce0762bb|fc_0c58bd1bdd3b672e016adafa0846e4819292e8191d45e6064c","toolName":"bash","content":[{"type":"text","text":"{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"57d79078b18c1731\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-balance-power\", \"instruction\": \"Power on the analytical balance and obtain a stable reading for one simulation second.\", \"native_instruction\": \"\"}}\n\n---resources---\n.kinex/devices/_camera.py\n.kinex/devices/_roboenv.py\n.kinex/devices/instrument/connection.json\n.kinex/devices/instrument/driver.py\n.kinex/devices/instrument/intrinsics.json\n.kinex/devices/instrument/profile.yaml\n.kinex/devices/world/connection.json\n.kinex/devices/world/driver.py\n.kinex/devices/world/profile.yaml\n.kinex/python/.venv/.gitignore\n.kinex/python/.venv/.lock\n.kinex/python/.venv/CACHEDIR.TAG\n.kinex/python/.venv/pyvenv.cfg\n.kinex/python/pyproject.toml\n.kinex/python/uv.lock\n.kinex/workspace.yaml\n"}],"isError":false,"durationMs":268,"timestamp":1792735754016}}
+{"type":"custom_message","customType":"kinex-context","content":"<kinex_context>\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n</kinex_context>","display":false,"details":{"core.conventions":"<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>","core.guides":"Device guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-4c41daff12ee400dade9e0f18c813b1a/config/device, /opt/kinex/packages/core/assets/builtin/device.","core.python":"{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}","core.recording":"","core.skills":"<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>","problems":""},"id":"3167d018","parentId":"b2a9a2b6","timestamp":"2026-10-23T06:09:14.057Z"}
+{"type":"message","id":"d1ba6292","parentId":"3167d018","timestamp":"2026-10-23T06:09:17.324Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_e92e76707e7b461391a7b6f82c95219f|fc_0c58bd1bdd3b672e016adafa0ba7a08192b6bcf5882a698fb7","name":"read","arguments":{"path":".kinex/devices/instrument/profile.yaml","offset":null,"limit":null}},{"type":"toolCall","id":"call_c32192a63c844beab13cf09687a047e6|fc_0c58bd1bdd3b672e016adafa0d3dfc8192af2a277808129c9c","name":"read","arguments":{"path":".kinex/devices/world/profile.yaml","offset":null,"limit":null}},{"type":"toolCall","id":"call_59fccd5d1f6d4966a7d6ad1fd7353059|fc_0c58bd1bdd3b672e016adafa0d3dfc81928c31471bceebf6c1","name":"read","arguments":{"path":".kinex/workspace.yaml","offset":null,"limit":null}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":542,"output":103,"cacheRead":12288,"cacheWrite":0,"reasoning":0,"totalTokens":12933,"cost":{"input":0.00542,"output":0.00515,"cacheRead":0.012288,"cacheWrite":0,"total":0.022858}},"stopReason":"toolUse","timestamp":1792735754062,"responseId":"resp_0c58bd1bdd3b672e016adafa0a5484819293b4564b9459865f","rawStopReason":"completed","durationMs":3262,"thinkingLevel":"high"}}
+{"type":"message","id":"0e34d064","parentId":"d1ba6292","timestamp":"2026-10-23T06:09:17.333Z","message":{"role":"toolResult","toolCallId":"call_e92e76707e7b461391a7b6f82c95219f|fc_0c58bd1bdd3b672e016adafa0ba7a08192b6bcf5882a698fb7","toolName":"read","content":[{"type":"text","text":"name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T06:09:08.282336+00:00'\n  updated_at: '2026-10-23T06:09:08.282336+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - adjustment_configure\n    - adjustment_start\n    - balance_block\n    - balance_calibrate_span\n    - balance_reading\n    - balance_request\n    - balance_set_display_unit\n    - balance_set_filter\n    - balance_tare\n    - balance_zero\n    - clock_set\n    - density_start\n    - display_set_unit\n    - door_key\n    - door_operate\n    - group_delete\n    - group_save\n    - load\n    - maintenance_reset\n    - message_acknowledge\n    - method_clone\n    - method_configure\n    - method_create\n    - method_delete\n    - method_item_delete\n    - method_item_save\n    - method_save_itemized\n    - method_start\n    - panel_capture\n    - panel_press\n    - panel_touch\n    - pcs_set_reference\n    - power_set\n    - procedure_cancel\n    - procedure_complete\n    - procedure_confirm\n    - procedure_select_weight\n    - profile_delete\n    - profile_save\n    - profile_set_default\n    - read\n    - scene_set_door\n    - scene_set_pan\n    - session_login\n    - session_logout\n    - settings_configure\n    - standby_set\n    - status\n    - task_add_result\n    - task_cancel\n    - task_complete\n    - task_delete\n    - task_exclude_result\n    - task_set_id\n    - test_configure\n    - test_create\n    - test_delete\n    - test_start\n    - test_weight_delete\n    - test_weight_save\n    - test_weight_save_combined\n    - unblocking_password_set\n    - unload\n    - user_delete\n    - user_management_set\n    - user_save\n    - user_set_password\n"}],"isError":false,"durationMs":4,"timestamp":1792735757333}}
+{"type":"message","id":"ef5fa763","parentId":"0e34d064","timestamp":"2026-10-23T06:09:17.333Z","message":{"role":"toolResult","toolCallId":"call_c32192a63c844beab13cf09687a047e6|fc_0c58bd1bdd3b672e016adafa0d3dfc8192af2a277808129c9c","toolName":"read","content":[{"type":"text","text":"name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T06:09:08.287121+00:00'\n  updated_at: '2026-10-23T06:09:08.287121+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n"}],"isError":false,"durationMs":5,"timestamp":1792735757333}}
+{"type":"message","id":"a55a5398","parentId":"ef5fa763","timestamp":"2026-10-23T06:09:17.333Z","message":{"role":"toolResult","toolCallId":"call_59fccd5d1f6d4966a7d6ad1fd7353059|fc_0c58bd1bdd3b672e016adafa0d3dfc81928c31471bceebf6c1","toolName":"read","content":[{"type":"text","text":"identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n"}],"isError":false,"durationMs":6,"timestamp":1792735757333}}
+{"type":"message","id":"1abac7cf","parentId":"a55a5398","timestamp":"2026-10-23T06:09:20.332Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_f42250f764634b7799082ec1399aede7|fc_0c58bd1bdd3b672e016adafa0edc9c8192a6ef36e40e89b79e","name":"read","arguments":{"path":".kinex/devices/instrument/driver.py","offset":null,"limit":null}},{"type":"toolCall","id":"call_c3cd0916c0c342e1a7b67e74439635b5|fc_0c58bd1bdd3b672e016adafa10423c819282b75213e10a3571","name":"read","arguments":{"path":".kinex/devices/instrument/intrinsics.json","offset":null,"limit":null}},{"type":"toolCall","id":"call_9cbdcbb67d5445d1979b73a91b1a5f9e|fc_0c58bd1bdd3b672e016adafa10423c81928dd8e5b8f7df1432","name":"device","arguments":{"deviceID":"instrument","action":"read"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":1177,"output":99,"cacheRead":12672,"cacheWrite":0,"reasoning":0,"totalTokens":13948,"cost":{"input":0.011770000000000001,"output":0.00495,"cacheRead":0.012672,"cacheWrite":0,"total":0.029392}},"stopReason":"toolUse","timestamp":1792735757375,"responseId":"resp_0c58bd1bdd3b672e016adafa0da9c0819281616e4d3e95f7a8","rawStopReason":"completed","durationMs":2957,"thinkingLevel":"high"}}
+{"type":"message","id":"24218c33","parentId":"1abac7cf","timestamp":"2026-10-23T06:09:20.335Z","message":{"role":"toolResult","toolCallId":"call_f42250f764634b7799082ec1399aede7|fc_0c58bd1bdd3b672e016adafa0edc9c8192a6ef36e40e89b79e","toolName":"read","content":[{"type":"text","text":"\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n"}],"isError":false,"durationMs":2,"timestamp":1792735760335}}
+{"type":"message","id":"9c0f8160","parentId":"24218c33","timestamp":"2026-10-23T06:09:20.336Z","message":{"role":"toolResult","toolCallId":"call_c3cd0916c0c342e1a7b67e74439635b5|fc_0c58bd1bdd3b672e016adafa10423c819282b75213e10a3571","toolName":"read","content":[{"type":"text","text":"{\n  \"instrument\": {\n    \"asset_id\": \"instrument.mt_xpr204e\",\n    \"catalog_id\": \"CHEM-001\",\n    \"domain\": \"Basic Metrology & Sample Handling\",\n    \"manufacturer\": \"METTLER TOLEDO\",\n    \"model\": \"XPR204E\",\n    \"name\": \"Analytical balance\",\n    \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\",\n    \"size_m\": [\n      0.209,\n      0.4604,\n      0.339\n    ],\n    \"state_slots\": {\n      \"adjustment.last\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"adjustment.settings\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"balance.calibrated\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.display_unit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"kg\",\n            \"g\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.filter_level\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"Low\",\n            \"Medium\",\n            \"High\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.gross_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"kg\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"balance.net_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"kg\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"balance.stability_elapsed_s\": {\n        \"unit\": \"s\",\n        \"value_schema\": {\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"s\"\n        }\n      },\n      \"balance.stable\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.status\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"OFF\",\n            \"PAN_REMOVED\",\n            \"PAN_UNLATCHED\",\n            \"TRANSPORT_LOCKED\",\n            \"OVERLOAD\",\n            \"UNDERLOAD\",\n            \"UNSTABLE\",\n            \"STABLE\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.synthetic\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"const\": true,\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.tare_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"kg\"\n        }\n      },\n      \"balance.task_ready\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.blocked\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.datetime\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"pattern\": \"^\\\\d{4}-\\\\d{2}-\\\\d{2}T\\\\d{2}:\\\\d{2}:\\\\d{2}$\",\n          \"type\": \"string\"\n        }\n      },\n      \"device.language\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"English\",\n            \"Deutsch\",\n            \"Fran\\u00e7ais\",\n            \"\\u65e5\\u672c\\u8a9e\",\n            \"\\u4e2d\\u6587\",\n            \"Espa\\u00f1ol\",\n            \"Italiano\",\n            \"\\u0420\\u0443\\u0441\\u0441\\u043a\\u0438\\u0439\",\n            \"Portugu\\u00eas\",\n            \"Polski\",\n            \"Magyar\",\n            \"\\u010ce\\u0161tina\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"device.messages\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"additionalProperties\": false,\n            \"properties\": {\n              \"acknowledged\": {\n                \"type\": \"boolean\"\n              },\n              \"action\": {\n                \"anyOf\": [\n                  {\n                    \"type\": \"string\"\n                  },\n                  {\n                    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 },\n            \"general.export_directory\": {\n              \"enum\": [\n                \"USB storage device\",\n                \"File server\"\n              ],\n              \"type\": \"string\"\n            },\n            \"general.standby\": {\n              \"type\": \"boolean\"\n            },\n            \"general.standby_wait\": {\n              \"maximum\": 60,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"min\"\n            },\n            \"general.update_on_startup\": {\n              \"type\": \"boolean\"\n            },\n            \"output.date\": {\n              \"type\": \"boolean\"\n            },\n            \"output.decimal_delimiter\": {\n              \"enum\": [\n                \",\",\n                \".\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.end_of_line\": {\n              \"enum\": [\n                \"CRLF\",\n                \"CR\",\n                \"LF\",\n                \"TAB\",\n                \"None\",\n                \"Enter\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.field_delimiter\": {\n              \"enum\": [\n                \"None\",\n                \"Space\",\n                \"TAB\",\n                \",\",\n                \";\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.format\": {\n              \"enum\": [\n                \"MT-SICS\",\n                \"PM\",\n                \"AT/MT\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.mode\": {\n              \"enum\": [\n                \"Results\",\n                \"Continuous\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.net_indicator\": {\n              \"type\": \"boolean\"\n            },\n            \"output.net_indicator_length\": {\n              \"maximum\": 2,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.result_id_1\": {\n              \"type\": \"boolean\"\n            },\n            \"output.result_id_2\": {\n              \"type\": \"boolean\"\n            },\n            \"output.sign\": {\n              \"enum\": [\n                \"For all values\",\n                \"For negative values\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.sign_position\": {\n              \"enum\": [\n                \"Left of weight field\",\n                \"Left of weight digits\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.target\": {\n              \"enum\": [\n                \"HID\",\n                \"HID / MT-SICS\",\n                \"MT-SICS\",\n                \"MT-SICS configurable\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.time\": {\n              \"type\": \"boolean\"\n            },\n            \"output.unit\": {\n              \"type\": \"boolean\"\n            },\n            \"output.unit_field_length\": {\n              \"maximum\": 6,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.updates_per_s\": {\n              \"enum\": [\n                2,\n                5,\n                6,\n                10\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.weight_field_length\": {\n              \"maximum\": 20,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"quality.balance_recal_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.balance_recal_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.calib_block_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.calib_expired_action\": {\n              \"enum\": [\n                \"None\",\n                \"Block\"\n              ],\n              \"type\": \"string\"\n            },\n            \"quality.change_history\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.gwp_approved\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.leveling_warning\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Optional leveling\",\n                \"Forced leveling\"\n              ],\n              \"type\": \"string\"\n            },\n            \"quality.service_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.service_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.weight_recal_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.weight_recal_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"region.date_format\": {\n              \"enum\": [\n                \"D.MMM.YYYY\",\n                \"MMM D YYYY\",\n                \"DD.MM.YYYY\",\n                \"MM/DD/YYYY\",\n                \"YYYY-MM-DD\",\n                \"YYYY/MM/DD\",\n                \"YYYY\\u5e74M\\u6708D\\u65e5\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.keyboard\": {\n              \"enum\": [\n                \"English\",\n                \"German\",\n                \"French\",\n                \"Spanish\",\n                \"Japanese\",\n                \"Simplified Chinese\",\n                \"Russian\",\n                \"Czech\",\n                \"Polish\",\n                \"Hungarian\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.language\": {\n              \"enum\": [\n                \"English\",\n                \"Deutsch\",\n                \"Fran\\u00e7ais\",\n                \"\\u65e5\\u672c\\u8a9e\",\n                \"\\u4e2d\\u6587\",\n                \"Espa\\u00f1ol\",\n                \"Italiano\",\n                \"\\u0420\\u0443\\u0441\\u0441\\u043a\\u0438\\u0439\",\n                \"Portugu\\u00eas\",\n                \"Polski\",\n                \"Magyar\",\n                \"\\u010ce\\u0161tina\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.time_format\": {\n              \"enum\": [\n                \"24:MM\",\n                \"12:MM\",\n                \"24.MM\",\n                \"12.MM\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.time_zone\": {\n              \"enum\": [\n                \"UTC\",\n                \"Europe/Zurich\",\n                \"Europe/London\",\n                \"America/New_York\",\n                \"America/Chicago\",\n                \"America/Los_Angeles\",\n                \"Asia/Shanghai\",\n                \"Asia/Tokyo\",\n                \"Asia/Kolkata\",\n                \"Australia/Sydney\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.brightness\": {\n              \"enum\": [\n                20,\n                40,\n                60,\n                80,\n                100\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"screen.sound_error\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_info\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_key\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_volume\": {\n              \"enum\": [\n                \"Inactive\",\n                \"20 %\",\n                \"40 %\",\n                \"60 %\",\n                \"80 %\",\n                \"100 %\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.sound_warning\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.status_light\": {\n              \"enum\": [\n                \"Active\",\n                \"Active (without green light)\",\n                \"Inactive\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.status_light_brightness\": {\n              \"enum\": [\n                20,\n                40,\n                60,\n                80,\n                100\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"services.file_server\": {\n              \"type\": \"boolean\"\n            },\n            \"services.fs_domain\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_import_path\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_password\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_server\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_share\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_user\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.labx\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Network\"\n              ],\n              \"type\": \"string\"\n            },\n            \"services.labx_port\": {\n              \"maximum\": 65535,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"services.mtsics\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Network\",\n                \"USB\"\n              ],\n              \"type\": \"string\"\n            },\n            \"services.mtsics_port\": {\n              \"maximum\": 65535,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"services.web\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Active\"\n              ],\n              \"type\": \"string\"\n            },\n            \"users.automatic_logout\": {\n              \"type\": \"boolean\"\n            },\n            \"users.logout_wait\": {\n              \"maximum\": 60,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"min\"\n            },\n            \"users.password_reset\": {\n              \"enum\": [\n                \"Allowed\",\n                \"Not allowed\"\n              ],\n              \"type\": \"string\"\n            },\n            \"users.user_proposals\": {\n              \"type\": \"boolean\"\n            }\n          },\n          \"type\": \"object\"\n        }\n      },\n      \"device.standby\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.status_light\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"off\",\n            \"green\",\n            \"yellow\",\n            \"red\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"display.allowed_units\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"string\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"display.smarttrac\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"active\": {\n              \"type\": \"boolean\"\n            },\n            \"color\": {\n              \"enum\": [\n                \"neutral\",\n                \"ok\",\n                \"warn\",\n                \"error\"\n              ],\n              \"type\": \"string\"\n            },\n            \"fraction\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"high\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"low\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"minus_text\": {\n              \"type\": \"string\"\n            },\n            \"plus_text\": {\n              \"type\": \"string\"\n            },\n            \"target_text\": {\n              \"type\": \"string\"\n            }\n          },\n          \"required\": [\n            \"active\",\n            \"fraction\",\n            \"low\",\n            \"high\",\n            \"target_text\",\n            \"minus_text\",\n            \"plus_text\",\n            \"color\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"display.unit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"string\"\n        }\n      },\n      \"display.weight\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"busy\": {\n              \"type\": \"string\"\n            },\n            \"calculated\": {\n              \"type\": \"boolean\"\n            },\n            \"indicator\": {\n              \"anyOf\": [\n                {\n                  \"additionalProperties\": false,\n                  \"properties\": {\n                    \"color\": {\n                      \"type\": \"string\"\n                    },\n                    \"text\": {\n                      \"type\": \"string\"\n                    }\n                  },\n                  \"required\": [\n                    \"color\",\n                    \"text\"\n                  ],\n                  \"type\": \"object\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"info_text\": {\n              \"type\": \"string\"\n            },\n            \"net\": {\n              \"type\": \"boolean\"\n            },\n            \"stable\": {\n              \"type\": \"boolean\"\n            },\n            \"state\": {\n              \"enum\": [\n                \"value\",\n                \"overload\",\n                \"underload\",\n                \"none\",\n                \"off\"\n              ],\n              \"type\": \"string\"\n            },\n            \"text\": {\n              \"type\": \"string\"\n            },\n            \"unit\": {\n              \"type\": \"string\"\n            }\n          },\n          \"required\": [\n            \"text\",\n            \"unit\",\n            \"info_text\",\n            \"net\",\n            \"stable\",\n            \"calculated\",\n            \"state\",\n            \"busy\",\n            \"indicator\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"door.left.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"door.right.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"door.top.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"environment.tilt_rad\": {\n        \"unit\": \"rad\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"rad\"\n        }\n      },\n      \"environment.vibration\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"history.adjustments\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"history.changes\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"history.tests\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"level.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"instruction\": {\n              \"type\": \"string\"\n            },\n            \"ok\": {\n              \"type\": \"boolean\"\n            },\n            \"ok_radius\": {\n              \"maximum\": 1,\n              \"minimum\": 0,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            \"tilt_deg\": {\n              \"minimum\": 0,\n              \"type\": \"number\",\n              \"x-unit\": \"deg\"\n            },\n            \"x\": {\n              \"maximum\": 1,\n              \"minimum\": -1,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            \"y\": {\n              \"maximum\": 1,\n              \"minimum\": -1,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            }\n          },\n          \"required\": [\n            \"ok\",\n            \"tilt_deg\",\n            \"x\",\n            \"y\",\n            \"ok_radius\",\n            \"instruction\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"methods.active\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"string\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"methods.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"pan.installed\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"power.enabled\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"procedure.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"profiles.default\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"string\"\n        }\n      },\n      \"profiles.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"task.current\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"task.paused\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"task.statistics\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"test_weights.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"tests.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"users.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"block_id\": {\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"block_reason\": {\n              \"anyOf\": [\n                {\n                  \"type\": \"string\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"current_user\": {\n              \"type\": \"string\"\n            },\n            \"groups\": {\n              \"items\": {\n                \"type\": \"object\"\n              },\n              \"type\": \"array\"\n            },\n            \"logged_in\": {\n              \"type\": \"boolean\"\n            },\n            \"management\": {\n              \"type\": \"boolean\"\n            },\n            \"rights\": {\n              \"additionalProperties\": false,\n              \"properties\": {\n                \"block_unblock\": {\n                  \"type\": \"boolean\"\n                },\n                \"cancel_task\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_methods\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_system\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_tests\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_users\": {\n                  \"type\": \"boolean\"\n                },\n                \"exclude_overwrite\": {\n                  \"type\": \"boolean\"\n                },\n                \"execute_service\": {\n                  \"type\": \"boolean\"\n                },\n                \"show_change_history\": {\n                  \"type\": \"boolean\"\n                },\n                \"start_external_adjustment\": {\n                  \"type\": \"boolean\"\n                },\n                \"start_tests\": {\n                  \"type\": \"boolean\"\n                }\n              },\n              \"required\": [\n                \"block_unblock\",\n                \"configure_methods\",\n                \"exclude_overwrite\",\n                \"cancel_task\",\n                \"configure_system\",\n                \"configure_users\",\n                \"execute_service\",\n                \"start_external_adjustment\",\n                \"show_change_history\",\n                \"configure_tests\",\n                \"start_tests\"\n              ],\n              \"type\": \"object\"\n            },\n            \"unblocking_password_set\": {\n              \"type\": \"boolean\"\n            },\n            \"users\": {\n              \"items\": {\n                \"type\": \"object\"\n              },\n              \"type\": \"array\"\n            }\n          },\n          \"required\": [\n            \"management\",\n            \"current_user\",\n            \"logged_in\",\n            \"rights\",\n            \"users\",\n            \"groups\",\n            \"unblocking_password_set\",\n            \"block_reason\",\n            \"block_id\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"weighing.pending\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"enum\": [\n                \"zero\",\n                \"tare\",\n                \"capture\"\n              ],\n              \"type\": \"string\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      }\n    }\n  },\n  \"source\": \"user\"\n}\n"}],"isError":false,"durationMs":1,"timestamp":1792735760336}}
+{"type":"message","id":"7c4630bd","parentId":"9c0f8160","timestamp":"2026-10-23T06:09:20.486Z","message":{"role":"toolResult","toolCallId":"call_9cbdcbb67d5445d1979b73a91b1a5f9e|fc_0c58bd1bdd3b672e016adafa10423c81928dd8e5b8f7df1432","toolName":"device","content":[{"type":"text","text":"{\n  \"observations\": {\n    \"adjustment.last\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":null},\n    \"adjustment.settings\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":{\"as_found\":false,\"as_left\":false,\"automatic_print\":false,\"block_balance\":false,\"control_limit\":0.1,\"preferred_days\":[\"Monday\",\"Tuesday\",\"Wednesday\",\"Thursday\",\"Friday\"],\"schedule\":\"1 start time\",\"start_after_leveling\":false,\"start_after_temperature\":true,\"start_time_1\":\"08:00\",\"start_time_2\":\"12:00\",\"start_time_3\":\"16:00\",\"strategy\":\"Internal adjustment\",\"tpl_balance\":[\"Balance type\",\"Balance ID\",\"Balance serial number\",\"Software version\"],\"tpl_details\":[\"Trigger\",\"Cell temperature\",\"Level state\",\"Date/time\",\"User name\"],\"tpl_header\":[\"Title\",\"Title text\",\"Date/time\",\"User name\",\"Signature\",\"Separating lines\",\"Group titles\"],\"tpl_results\":[\"Correction\",\"Test deviation \\\"as found\\\"\",\"Test deviation \\\"as left\\\"\",\"Test result \\\"as found\\\"\",\"Test result \\\"as left\\\"\"],\"tpl_summary\":[\"Adjustment type\",\"Adjustment status\",\"Balance adjusted\"],\"warning_limit\":0.05,\"weight\":null}},\n    \"balance.calibrated\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":false},\n    \"balance.display_unit\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"g\"},\n    \"balance.filter_level\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"Medium\"},\n    \"balance.gross_kg\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"kg\",\"value\":null},\n    \"balance.net_kg\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"kg\",\"value\":null},\n    \"balance.stability_elapsed_s\": 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+{"type":"message","id":"5e6049e5","parentId":"37ba9d6e","timestamp":"2026-10-23T06:09:28.180Z","message":{"role":"toolResult","toolCallId":"call_0d3512d804b94bc39482872e6d051999|fc_0c58bd1bdd3b672e016adafa1780588192ace146441029688d","toolName":"bash","content":[{"type":"text","text":"usage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\nusage: roboenv operation [-h] [--run RUN | --endpoint ENDPOINT] request_id\n\npositional arguments:\n  request_id\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n"}],"isError":false,"durationMs":148,"timestamp":1792735768180}}
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\"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}, {\"actions\": {\"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"wait\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"minimum\": 0, \"type\": \"number\"}}, \"required\": 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Full output: /tmp/pi-bash-7711a00d467912e7.log]"}],"details":{"truncation":{"content":"mum\": 0, \"type\": \"number\", \"x-unit\": \"g\"}, {\"type\": \"null\"}]}, \"pcs.reference_pcs\": {\"maximum\": 10000, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, \"print.label_cutting\": {\"enum\": [\"Off\", \"Per label\", \"Per task\"], \"type\": \"string\"}, \"print.results_export\": {\"type\": \"boolean\"}, \"print.strip_printer\": {\"type\": \"boolean\"}, \"print.tpl_balance\": {\"items\": {\"enum\": [\"Balance type\", \"Balance ID\", \"Balance serial number\", \"Software version\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_header\": {\"items\": {\"enum\": [\"Title\", \"Title text\", \"Date/time\", \"User name\", \"Signature\", \"Separating lines\", \"Group titles\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_item\": {\"items\": {\"enum\": [\"Show excluded weighing items\", \"Result state\", \"Result 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\"users.user_proposals\": {\"type\": \"boolean\"}}, \"type\": \"object\"}}, \"device.standby\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"device.status_light\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"off\", \"green\", \"yellow\", \"red\"], \"type\": \"string\"}}, \"display.allowed_units\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"string\"}, \"type\": \"array\"}}, \"display.smarttrac\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"active\": {\"type\": \"boolean\"}, \"color\": {\"enum\": [\"neutral\", \"ok\", \"warn\", \"error\"], \"type\": \"string\"}, \"fraction\": {\"anyOf\": [{\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"high\": {\"anyOf\": [{\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"low\": {\"anyOf\": [{\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"minus_text\": {\"type\": \"string\"}, \"plus_text\": {\"type\": \"string\"}, \"target_text\": {\"type\": \"string\"}}, \"required\": [\"active\", \"fraction\", \"low\", \"high\", \"target_text\", \"minus_text\", \"plus_text\", \"color\"], \"type\": \"object\"}}, \"display.unit\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"string\"}}, \"display.weight\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"busy\": {\"type\": \"string\"}, \"calculated\": {\"type\": \"boolean\"}, \"indicator\": {\"anyOf\": [{\"additionalProperties\": false, \"properties\": {\"color\": {\"type\": \"string\"}, \"text\": {\"type\": \"string\"}}, \"required\": [\"color\", \"text\"], \"type\": \"object\"}, {\"type\": \"null\"}]}, \"info_text\": {\"type\": \"string\"}, \"net\": {\"type\": \"boolean\"}, \"stable\": {\"type\": \"boolean\"}, \"state\": {\"enum\": [\"value\", \"overload\", \"underload\", \"none\", \"off\"], \"type\": \"string\"}, \"text\": {\"type\": \"string\"}, \"unit\": {\"type\": \"string\"}}, \"required\": [\"text\", \"unit\", \"info_text\", \"net\", \"stable\", \"calculated\", \"state\", \"busy\", \"indicator\"], \"type\": \"object\"}}, \"door.left.opening_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.109, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"door.right.opening_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.109, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"door.top.opening_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.109, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"environment.tilt_rad\": {\"unit\": \"rad\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"rad\"}}, \"environment.vibration\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"history.adjustments\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"history.changes\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"history.tests\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"level.state\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"instruction\": {\"type\": \"string\"}, \"ok\": {\"type\": \"boolean\"}, \"ok_radius\": {\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, \"tilt_deg\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"deg\"}, \"x\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}, \"y\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"ok\", \"tilt_deg\", \"x\", \"y\", \"ok_radius\", \"instruction\"], \"type\": \"object\"}}, \"methods.active\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}}, \"methods.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"pan.installed\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"power.enabled\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"procedure.state\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}, \"profiles.default\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"string\"}}, \"profiles.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"task.current\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}, \"task.paused\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"task.statistics\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}, \"test_weights.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"tests.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"users.state\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"block_id\": {\"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"1\"}, \"block_reason\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}, \"current_user\": {\"type\": \"string\"}, \"groups\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}, \"logged_in\": {\"type\": \"boolean\"}, \"management\": {\"type\": \"boolean\"}, \"rights\": {\"additionalProperties\": false, \"properties\": {\"block_unblock\": {\"type\": \"boolean\"}, \"cancel_task\": {\"type\": \"boolean\"}, \"configure_methods\": {\"type\": \"boolean\"}, \"configure_system\": {\"type\": \"boolean\"}, \"configure_tests\": {\"type\": \"boolean\"}, \"configure_users\": {\"type\": \"boolean\"}, \"exclude_overwrite\": {\"type\": \"boolean\"}, \"execute_service\": {\"type\": \"boolean\"}, \"show_change_history\": {\"type\": \"boolean\"}, \"start_external_adjustment\": {\"type\": \"boolean\"}, \"start_tests\": {\"type\": \"boolean\"}}, \"required\": [\"block_unblock\", \"configure_methods\", \"exclude_overwrite\", \"cancel_task\", \"configure_system\", \"configure_users\", \"execute_service\", \"start_external_adjustment\", \"show_change_history\", \"configure_tests\", \"start_tests\"], \"type\": \"object\"}, \"unblocking_password_set\": {\"type\": \"boolean\"}, \"users\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"required\": [\"management\", \"current_user\", \"logged_in\", \"rights\", \"users\", \"groups\", \"unblocking_password_set\", \"block_reason\", \"block_id\"], \"type\": \"object\"}}, \"weighing.pending\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"enum\": [\"zero\", \"tare\", \"capture\"], \"type\": \"string\"}, {\"type\": \"null\"}]}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}, {\"actions\": {\"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"wait\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"minimum\": 0, \"type\": \"number\"}}, \"required\": [\"duration_s\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"world\", \"profile\": \"devices/world/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {}, \"implementation\": \"World reference\", \"intrinsics\": {\"bounds\": null, \"calibrated_at\": null, \"method\": \"manual\", \"source\": \"user\", \"surfaces\": []}, \"name\": \"world\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"world\", \"validation\": \"implementation-present; not hardware-probed\"}], \"schema_version\": \"roboenv/devices/1\"}","truncated":true,"truncatedBy":"bytes","totalLines":1,"totalBytes":75215,"outputLines":1,"outputBytes":51200,"lastLinePartial":true,"firstLineExceedsLimit":false,"maxLines":2000,"maxBytes":51200},"fullOutputPath":"/tmp/pi-bash-7711a00d467912e7.log"},"isError":false,"durationMs":245,"timestamp":1792735770974}}
+{"type":"message","id":"0bdd8e02","parentId":"a61ff184","timestamp":"2026-10-23T06:09:34.244Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_ad4eabaa459241f698d90ccc626fbb57|fc_0c58bd1bdd3b672e016adafa1d73a08192ad350df517d7aab6","name":"device","arguments":{"deviceID":"instrument","action":"power_set","args":{"enabled":true}}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":16628,"output":29,"cacheRead":26112,"cacheWrite":0,"reasoning":0,"totalTokens":42769,"cost":{"input":0.16628,"output":0.0014500000000000001,"cacheRead":0.026112,"cacheWrite":0,"total":0.19384200000000001}},"stopReason":"toolUse","timestamp":1792735771012,"responseId":"resp_0c58bd1bdd3b672e016adafa1b47ac8192b1c9d269d30c94b1","rawStopReason":"completed","durationMs":3232,"thinkingLevel":"high"}}
+{"type":"message","id":"2af33de7","parentId":"0bdd8e02","timestamp":"2026-10-23T06:09:34.465Z","message":{"role":"toolResult","toolCallId":"call_ad4eabaa459241f698d90ccc626fbb57|fc_0c58bd1bdd3b672e016adafa1d73a08192ad350df517d7aab6","toolName":"device","content":[{"type":"text","text":"{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 24.800000000000082\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-502\",\n  \"result\": {\n    \"enabled\": true\n  },\n  \"state_revision\": 250,\n  \"status\": \"succeeded\"\n}"}],"details":{"kinex":{"title":"power_set on instrument"}},"isError":false,"durationMs":220,"timestamp":1792735774465}}
+{"type":"message","id":"fcb897a1","parentId":"2af33de7","timestamp":"2026-10-23T06:09:38.577Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_25c7af2a60034ece8314eee9755b43d6|fc_0c58bd1bdd3b672e016adafa1fdc4c81929df65a4e80217ee1","name":"exec","arguments":{"description":"verify balance stability","python":"from kinex import device\nkeys = ['power.enabled','balance.status','balance.stable','balance.stability_elapsed_s','balance.net_kg','balance.task_ready']\na = device('instrument')['observations']\nprint({k:a[k] for k in keys})\nprint(device('world','wait',{'duration_s':1.1}))\nb = device('instrument')['observations']\nprint({k:b[k] for k in keys})\nassert a['balance.stable']['value'] is True and b['balance.stable']['value'] is True\nassert b['balance.stability_elapsed_s']['value'] >= 1\nassert b['balance.stable']['sample_time_s'] - a['balance.stable']['sample_time_s'] >= 1"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":265,"output":184,"cacheRead":42624,"cacheWrite":0,"reasoning":0,"totalTokens":43073,"cost":{"input":0.00265,"output":0.0092,"cacheRead":0.042623999999999995,"cacheWrite":0,"total":0.054473999999999995}},"stopReason":"toolUse","timestamp":1792735774507,"responseId":"resp_0c58bd1bdd3b672e016adafa1ed0b08192aa2f1720739a555a","rawStopReason":"completed","durationMs":4069,"thinkingLevel":"high"}}
+{"type":"message","id":"73b1f08c","parentId":"fcb897a1","timestamp":"2026-10-23T06:09:40.721Z","message":{"role":"toolResult","toolCallId":"call_25c7af2a60034ece8314eee9755b43d6|fc_0c58bd1bdd3b672e016adafa1fdc4c81929df65a4e80217ee1","toolName":"exec","content":[{"type":"text","text":"{\n  \"exit_code\": 1,\n  \"output\": \"{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\n{'time_s': 28.90000000000014, 'waited_s': 1.1000000000000156}\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\nTraceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/_exec.py\\\", line 27, in <module>\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 8, in <module>\\nAssertionError\\n\",\n  \"error\": \"script exited with code 1\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\n{'time_s': 28.90000000000014, 'waited_s': 1.1000000000000156}\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\nTraceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/_exec.py\\\", line 27, in <module>\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 8, in <module>\\nAssertionError\"\n}"}],"details":{"kinex":{"title":"exec (Python)","isError":true}},"isError":true,"durationMs":2142,"timestamp":1792735780721}}
+{"type":"message","id":"ccc3a1fb","parentId":"73b1f08c","timestamp":"2026-10-23T06:09:45.519Z","message":{"role":"assistant","content":[{"type":"thinking","thinking":"**Assessing stability calibration need**","thinkingSignature":"{\"type\":\"reasoning\",\"id\":\"rs_0c58bd1bdd3b672e016adafa262d448192af444389a21d1d8d\",\"summary\":[{\"type\":\"summary_text\",\"text\":\"**Assessing stability calibration need**\"}],\"content\":[],\"encrypted_content\":\"gAAAAABq2voprifJUXrTWTpLqXoKqLTtcgBMa7wuBqnv9x7gS-hU7-qriDj9fZpLeTrP9KJ7pGr_E3-qCTaWMLRRrMj8qH7a7M3l5O4SJkz-7NWwTXY_eMeqOsTZ1xzsVpteWA6-_oD-A-KReTM1ovkLPiijbK7-ovCfIRbwAaQuTXBhYn7ebOr_HWE_rTL81YObnEm9GhUBpym5ksndwFIKUZC46vwRrEZFZkJoe4dOQ2p9o3gNIKUAqORRrFSuvrCEfzutKRDUlCbJgfMua51Kg2R5ypSsJj3GnTBNzeEbatjmHf7nu1HAsicdR2ebaFjsK3Ew2fa4ypGkUrHqGW-Oez-fCgfDl4HTc1Xu6ifR2LqZYzCtxySIQh9mFTzRCNhxfoTngmMIG1Qd_7xEZSkmGv9UIvEAjRJHfcto1785qAAtOtWMf5mes00CNFCB2MPMT0yx9xeWpwXTdEMSz4JJm5Kn2go8MGbeaLHrYze3yxpN-lj4_ocJZM_N5pjobcokhnMzU0F0eNbuE9jXm2nAho3Gnlh_Al7_jZgthYZpfW3SLC-UYNurYThodi2Fwb9MBpre-8-MoXxTys1GpnhTF83X4n89sFTP8yeOZCNTqPUW8uywjHkERbslcah8rDmWS_dgXwelFx7SQAZFdJm1jcrDr72vy8RX1Qra_CXTZJtkfOd9C3G3oySxGU6yLn_XZwPe00CWTrqcNrxLOLeNdtMTfjqHIbIbc8B4ovXeEUUNYbNWhQ_Xi5drG5fdKv5alvBL4Gql0dZDbWvrinfLI2WVa9_7QQ3uSopd4g9B0t2xTGubKO9Ax2ZoV6Wj8bH0ju6BkIMpsH7RlVQsOQfKAEvXSUY7UkhLlChRUYWL4cKBdcTSLWTynbP5HjhvNU7u0jsbNK1OwivgpaNgpogviFpjKCJUBtp70hu8OgiKAYifBXbK5XGoQX5vbkJPAVBr9HmioR1pnWg-FocDVFXKXYsuIJZQ9Ip7fBZZDoABN3gcwHwz2qHHtuRpC1BM2yOwgVaDW0BzqtvjVZPCtbRnHd1p_LjunDMmwJ0XNfSslM0iW6UnyldawaNHG_5ankNdBbCJ1e_r-Q2UShGo6X6Ws2HoMd30iGFjlHofk2hhkSO7lbitagMBYvBlqPBUEGxFpEd_wTa4KhmVLZoyoXCfRlz-imDKwJA0Xc_fSbZ8u7joI3fY42EQJJz4VxpSCOa0t62CjsNP9HcxDcl7mWXNLnqBQsSZb6qePOKW7ide47n7ZBdkQH_zpCxp8UwXJRmGipBbxwXWdbIEFHgiH6cNUmlAQBd7A15ZCL0-SD5AEKAvHQy4MXyXUDB6WXvVG_TFRpYuxD0fhVAvjdTgQM7pnALFWpLs_kkktG3vTQRRm6CqSQKdVSS_pKxfLf89d7Q_c1QD5K7rU0sVAYwl6G-wFVOLPuIKmyAVvETiGdERJJV6QzgvJXqexR98i0nKcokmihQSlrbfn4uN0O1BHfQPsB2MNTatkVAKei-CcigmSCF9ZkUlHZgoqsytM8LTFvu3uKasciKUy_8F7EtqTlWg-UlZPWk0daqEwOaazCBzcQM67fqE3ebCal1Ez3jG_9gx0-FDVoaxpQG8o7xDQhQomkl0x5Tt8uWp4MNeoqwOTsMY_VD8h9YuneMB80UX8WI_S-TwDaVC\"}"},{"type":"toolCall","id":"call_0bb0eb9ee5dd4fe0b7b308dbfa76a025|fc_0c58bd1bdd3b672e016adafa294a308192b757501105663ca1","name":"bash","arguments":{"command":"roboenv devices --endpoint \"$ROBOENV_ENDPOINT\" | python -c 'import sys,json; d=json.load(sys.stdin); a=d[\"devices\"][0][\"actions\"]; print(json.dumps({k:v for k,v in a.items() if k in [\"balance_reading\",\"balance_set_filter\",\"balance_calibrate_span\",\"balance_request\"]},indent=2))'","timeout":20}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":2007,"output":113,"cacheRead":42752,"cacheWrite":0,"reasoning":10,"totalTokens":44872,"cost":{"input":0.02007,"output":0.0056500000000000005,"cacheRead":0.042752,"cacheWrite":0,"total":0.068472}},"stopReason":"toolUse","timestamp":1792735780755,"responseId":"resp_0c58bd1bdd3b672e016adafa25095c8192b667f19356f2dbc7","rawStopReason":"completed","durationMs":4764,"thinkingLevel":"high"}}
+{"type":"message","id":"287f9f3d","parentId":"ccc3a1fb","timestamp":"2026-10-23T06:09:45.723Z","message":{"role":"toolResult","toolCallId":"call_0bb0eb9ee5dd4fe0b7b308dbfa76a025|fc_0c58bd1bdd3b672e016adafa294a308192b757501105663ca1","toolName":"bash","content":[{"type":"text","text":"{\n  \"balance_calibrate_span\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"known_mass_kg\": {\n          \"maximum\": 0.22,\n          \"minimum\": 1e-12,\n          \"type\": \"number\",\n          \"x-unit\": \"kg\"\n        }\n      },\n      \"required\": [\n        \"known_mass_kg\"\n      ],\n      \"title\": \"balance.calibrate_span\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_reading\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {},\n      \"required\": [],\n      \"title\": \"balance.reading\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_request\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"action\": {\n          \"enum\": [\n            \"zero\",\n            \"tare\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"required\": [\n        \"action\"\n      ],\n      \"title\": \"balance.request\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_set_filter\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"level\": {\n          \"enum\": [\n            \"Low\",\n            \"Medium\",\n            \"High\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"required\": [\n        \"level\"\n      ],\n      \"title\": \"balance.set_filter\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  }\n}\n"}],"isError":false,"durationMs":202,"timestamp":1792735785723}}
+{"type":"message","id":"4fba44f1","parentId":"287f9f3d","timestamp":"2026-10-23T06:09:48.118Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_0f2454c323664d0fb4dd8c3ec23348b4|fc_0c58bd1bdd3b672e016adafa2bd3988192aed0f540cd6fe4b1","name":"device","arguments":{"deviceID":"instrument","action":"balance_reading"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":598,"output":24,"cacheRead":44672,"cacheWrite":0,"reasoning":0,"totalTokens":45294,"cost":{"input":0.00598,"output":0.0012000000000000001,"cacheRead":0.044671999999999996,"cacheWrite":0,"total":0.051851999999999995}},"stopReason":"toolUse","timestamp":1792735785787,"responseId":"resp_0c58bd1bdd3b672e016adafa2a10488192995b974fcca6f2b6","rawStopReason":"completed","durationMs":2331,"thinkingLevel":"high"}}
+{"type":"message","id":"562a8d03","parentId":"4fba44f1","timestamp":"2026-10-23T06:09:48.186Z","message":{"role":"toolResult","toolCallId":"call_0f2454c323664d0fb4dd8c3ec23348b4|fc_0c58bd1bdd3b672e016adafa2bd3988192aed0f540cd6fe4b1","toolName":"device","content":[{"type":"text","text":"{\n  \"error\": \"driver for \\\"instrument\\\" failed: Episode finished; call roboenv stop for the final judgment\",\n  \"code\": \"episode_finished\"\n}"}],"details":{"kinex":{"title":"device instrument","isError":true}},"isError":true,"durationMs":67,"timestamp":1792735788186}}
+{"type":"message","id":"e97a536e","parentId":"562a8d03","timestamp":"2026-10-23T06:09:51.090Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_133243623b3441f28c4bd75e35fe6610|fc_0c58bd1bdd3b672e016adafa2e9c38819285ca1247695a049b","name":"bash","arguments":{"command":"roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json && roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json","timeout":20}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":154,"output":49,"cacheRead":45184,"cacheWrite":0,"reasoning":0,"totalTokens":45387,"cost":{"input":0.0015400000000000001,"output":0.00245,"cacheRead":0.045183999999999995,"cacheWrite":0,"total":0.049173999999999995}},"stopReason":"toolUse","timestamp":1792735788228,"responseId":"resp_0c58bd1bdd3b672e016adafa2cad2481929d3805f9c50a1738","rawStopReason":"completed","durationMs":2861,"thinkingLevel":"high"}}
+{"type":"message","id":"664a9c61","parentId":"e97a536e","timestamp":"2026-10-23T06:09:53.617Z","message":{"role":"toolResult","toolCallId":"call_133243623b3441f28c4bd75e35fe6610|fc_0c58bd1bdd3b672e016adafa2e9c38819285ca1247695a049b","toolName":"bash","content":[{"type":"text","text":"{\"device_service\": {\"contract\": \"roboenv/devices/1\", \"ready\": true}, \"endpoint\": \"http://127.0.0.1:8123\", \"generation\": 0, \"protocol\": \"roboenv/1\", \"session\": \"57d79078b18c1731\", \"supervisor\": \"ok\", \"worker\": {\"alive\": true, \"state\": \"ready\"}, \"simulation\": {\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 307}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"schema\": \"roboenv/simulation-status/1\", \"session\": \"57d79078b18c1731\", \"simulation_time_s\": null, \"state\": \"terminal\", \"terminal\": true}}\n{\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 307}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"reason\": \"success\", \"schema\": \"roboenv/simulation-status/1\", \"service_state\": \"stopped\", \"session\": \"57d79078b18c1731\", \"simulation_time_s\": null, \"state\": \"terminal\", \"success\": true, \"terminal\": true}\n"}],"isError":false,"durationMs":2527,"timestamp":1792735793617}}
+{"type":"message","id":"5f081823","parentId":"664a9c61","timestamp":"2026-10-23T06:10:07.325Z","message":{"role":"assistant","content":[{"type":"toolCall","id":"call_820abcb043024af9a687532929937f6b|fc_0c58bd1bdd3b672e016adafa33f7d881928c7b04d94e524796","name":"write","arguments":{"path":".kinex/memos/chemlab-balance.md","content":"# ChemLab analytical balance power\n\n- Inspect `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"`, device profiles, and initial instrument read. Public action schemas are in `roboenv devices` (large JSON; filter `devices[].actions` to relevant actions).\n- Power command: Kinex `device('instrument', 'power_set', {'enabled': True})`. No robot motion or calibration is required for the power-only task with an installed pan and closed doors.\n- Read feedback under `observations`: each dotted slot has `value`, `quality`, `sample_time_s`. Relevant slots: power.enabled, balance.status, balance.stable, balance.stability_elapsed_s, balance.net_kg, balance.task_ready.\n- Wait with world.wait in simulation seconds. Do not assume command acceptance proves stability. Prefer bounded polling until stable, then hold at least one further simulation second and reread, unless episode terminates first.\n- Observed power-only episode: readings briefly remained UNSTABLE with stability_elapsed_s=1.5 and net_kg=0, then episode auto-terminated successfully. Do not infer failure from those transient observations or unnecessarily change filters/calibration.\n- If a device reports episode_finished, inspect `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json`, then always retrieve final judgment using `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json`. Status alone does not report success. Final stop confirmed success in the observed power-only episode.\n"}}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":503,"output":342,"cacheRead":45184,"cacheWrite":0,"reasoning":0,"totalTokens":46029,"cost":{"input":0.005030000000000001,"output":0.0171,"cacheRead":0.045183999999999995,"cacheWrite":0,"total":0.067314}},"stopReason":"toolUse","timestamp":1792735793656,"responseId":"resp_0c58bd1bdd3b672e016adafa31efcc8192b9a9363ac37fe67e","rawStopReason":"completed","durationMs":13669,"thinkingLevel":"high"}}
+{"type":"message","id":"5be297df","parentId":"5f081823","timestamp":"2026-10-23T06:10:07.330Z","message":{"role":"toolResult","toolCallId":"call_820abcb043024af9a687532929937f6b|fc_0c58bd1bdd3b672e016adafa33f7d881928c7b04d94e524796","toolName":"write","content":[{"type":"text","text":"Successfully wrote to .kinex/memos/chemlab-balance.md"}],"isError":false,"durationMs":3,"timestamp":1792735807330}}
+{"type":"message","id":"4880bf05","parentId":"5be297df","timestamp":"2026-10-23T06:10:10.404Z","message":{"role":"assistant","content":[{"type":"text","text":"Completed successfully: the balance was powered on and the one-second stable-reading requirement was met. Final simulation judgment: **success**.","textSignature":"{\"v\":1,\"id\":\"msg_0c58bd1bdd3b672e016adafa41783881929b51d4e42286fee3\",\"phase\":\"final_answer\"}"}],"api":"openai-codex-responses","provider":"openai-codex","model":"gpt-6-astra","usage":{"input":486,"output":30,"cacheRead":45568,"cacheWrite":0,"reasoning":0,"totalTokens":46084,"cost":{"input":0.004860000000000001,"output":0.0015,"cacheRead":0.045568,"cacheWrite":0,"total":0.051928}},"stopReason":"stop","timestamp":1792735807367,"responseId":"resp_0c58bd1bdd3b672e016adafa3fac3c8192834aa0e59db82790","rawStopReason":"completed","durationMs":3037,"thinkingLevel":"high"}}
+{"type":"custom","customType":"kinex-active-time","data":{"milliseconds":60056.768555999995},"id":"12106677","parentId":"4880bf05","timestamp":"2026-10-23T06:10:10.447Z"}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trace.json
new file mode 100644
index 0000000000000000000000000000000000000000..8106b5638775f4090bb3248680b6fa7186f50c03
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trace.json
@@ -0,0 +1 @@
+{"schema": "rlebench/kinex-trace/1", "source": "Pi native session", "usage_source": "pi-normalized", "cache_coverage": "normalized-values", "reasoning_coverage": "normalized-values", "info": {"type": "session", "version": 3, "id": "01a16760-a655-7538-b66f-bf64d31971c8", "timestamp": "2026-10-23T06:09:09.718Z", "cwd": "/workspace"}, "messages": [{"id": "5e69fb42", "role": "system", "timestamp": "2026-10-23T06:09:10.390Z", "parts": [{"type": "text", "text": ""}]}, {"id": "6d463872", "role": "user", "timestamp": "2026-10-23T06:09:10.391Z", "parts": [{"type": "text", "text": "# Task: isaaclab/chemlab-balance-power\n\nPower on the analytical balance and obtain a stable reading for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes\nin `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. Use the registered devices in `.kinex/devices/`\nand the robot specification in `.kinex/workspace.yaml`.\nThe Kinex adapter installs and refreshes these resources\nfor the current episode. Use Kinex's device tools and profiles for action schemas,\nunits, frames, and feedback. Device `stop` follows its declared affected-device\nscope; `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\"` finalizes the assigned simulation\nand returns its final judgment.\nImprove existing tools, skills, and memos in place."}]}, {"id": "0b1eace5", "role": "context", "timestamp": "2026-10-23T06:09:10.391Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.conventions:\n<device_conventions type=\"world\" devices=\"world\">\n`read()` returns clock `time_s` and optional `budget: {used_s, max_s}`:\nepisode seconds consumed and allowed; null `max_s` means no cap.\n`wait({duration_s})` returns completion `time_s` and actual `waited_s` for that\nwait. The clock can advance between calls; differences between reads are not\nnecessarily wait durations. Reads do not advance time; waits are concurrent\nand individually cancellable.\n\nBudget, bounds and surfaces are informational; Kinex does not enforce them or\ninfer transforms between disconnected frame trees.\n</device_conventions>\n\ncore.guides:\nDevice guide roots (nearest first): /workspace/.kinex/device, /tmp/kinex-4c41daff12ee400dade9e0f18c813b1a/config/device, /opt/kinex/packages/core/assets/builtin/device.\n\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":false,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n\ncore.recording:\n(none)\n\ncore.skills:\n<available_skills>\nLoad a skill with the skill tool when its description matches the task.\n  - calibrate-camera-extrinsics: Measure a camera mount from robot poses and board observations when a task needs camera-to-robot coordinates.\n  - calibrate-camera-intrinsics: Measure color-camera projection and distortion when the task needs calibrated image geometry; RGB-D depth facts remain separate.\n  - calibrate-dual-arm: Measure the relative transform of two arms using their calibrated TCPs when a task needs cross-arm coordinates.\n  - calibrate-fixed-arm-mount: Survey an arm base relative to its rigid parent, including a mobile base or moving torso attachment frame.\n  - calibrate-joint-range: Resolve joint limits from models or referenced measurements only when required; world geometry is separate.\n  - calibrate-tcp-offset: Measure flange-to-tool-tip translation by pivot touches when a task needs a TCP; orientation remains a separate fact.\n  - calibrate-world-geometry: Record independently measured world bounds or surfaces only for tasks that need those spatial facts.\n  - onboard-ros2: Register or repair ROS 2 hardware integrations using reusable packages, device-local drivers and measured interface checks.\n  - setup-device: Add a device or repair its driver — choose an instance or type guide, provision its runtime, fill a profile and verify the interface. [resolves: access:velocity,access:legged_base,access:joint,access:gripper,access:dexterous_hand,access:suction,access:rgb,access:rgbd,access:imu,access:force_torque,access:model,intrinsics:model,access:detection,intrinsics:detection,access:segmentation,intrinsics:segmentation,access:other]\n  - verify-base-interface: Establish missing base control and feedback conventions for a task, without requiring a full mobility calibration.\n  - verify-base-motion: Measure selected base motion, expiry or stopping behavior when the current task needs evidence about those operations.\n  - verify-base-posture: Verify selected height or attitude references and moving attachment frames for a base that exposes posture control.\n</available_skills>\n\nproblems:\n(none)\n</kinex_context>"}], "context": true}, {"id": "8d7bc7e5", "role": "assistant", "timestamp": "2026-10-23T06:09:13.744Z", "parts": [{"type": "tool", "callID": "call_acce1fe5cae44389a5198407ce0762bb|fc_0c58bd1bdd3b672e016adafa0846e4819292e8191d45e6064c", "name": "bash", "input": {"command": "roboenv describe --endpoint \"$ROBOENV_ENDPOINT\" && printf '\\n---resources---\\n' && find .kinex -maxdepth 3 -type f | sort", "timeout": 20}, "output": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"57d79078b18c1731\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-balance-power\", \"instruction\": \"Power on the analytical balance and obtain a stable reading for one simulation second.\", \"native_instruction\": \"\"}}\n\n---resources---\n.kinex/devices/_camera.py\n.kinex/devices/_roboenv.py\n.kinex/devices/instrument/connection.json\n.kinex/devices/instrument/driver.py\n.kinex/devices/instrument/intrinsics.json\n.kinex/devices/instrument/profile.yaml\n.kinex/devices/world/connection.json\n.kinex/devices/world/driver.py\n.kinex/devices/world/profile.yaml\n.kinex/python/.venv/.gitignore\n.kinex/python/.venv/.lock\n.kinex/python/.venv/CACHEDIR.TAG\n.kinex/python/.venv/pyvenv.cfg\n.kinex/python/pyproject.toml\n.kinex/python/uv.lock\n.kinex/workspace.yaml\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12423, "outputTokens": 58, "cachedInputTokens": 0, "cacheReportedInputTokens": 12423, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12423, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 58}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "b2a9a2b6", "role": "toolResult", "timestamp": "2026-10-23T06:09:14.017Z", "parts": [{"type": "text", "text": "{\"device_contract\": \"roboenv/devices/1\", \"devices\": [\"instrument\", \"world\"], \"generation\": 0, \"session\": \"57d79078b18c1731\", \"task\": {\"context\": {}, \"id\": \"isaaclab/chemlab-balance-power\", \"instruction\": \"Power on the analytical balance and obtain a stable reading for one simulation second.\", \"native_instruction\": \"\"}}\n\n---resources---\n.kinex/devices/_camera.py\n.kinex/devices/_roboenv.py\n.kinex/devices/instrument/connection.json\n.kinex/devices/instrument/driver.py\n.kinex/devices/instrument/intrinsics.json\n.kinex/devices/instrument/profile.yaml\n.kinex/devices/world/connection.json\n.kinex/devices/world/driver.py\n.kinex/devices/world/profile.yaml\n.kinex/python/.venv/.gitignore\n.kinex/python/.venv/.lock\n.kinex/python/.venv/CACHEDIR.TAG\n.kinex/python/.venv/pyvenv.cfg\n.kinex/python/pyproject.toml\n.kinex/python/uv.lock\n.kinex/workspace.yaml\n"}]}, {"id": "3167d018", "role": "context", "timestamp": "2026-10-23T06:09:14.057Z", "parts": [{"type": "text", "text": "<kinex_context>\ncore.python:\n{\"project\":\"/workspace/.kinex/python\",\"venv\":\"/workspace/.kinex/python/.venv\",\"executable\":\"/workspace/.kinex/python/.venv/bin/python3\",\"present\":true,\"library\":\"/opt/kinex/packages/core/assets/python\",\"workspaceLibrary\":\"/workspace/.kinex/lib\"}\n</kinex_context>"}], "context": true}, {"id": "d1ba6292", "role": "assistant", "timestamp": "2026-10-23T06:09:17.324Z", "parts": [{"type": "tool", "callID": "call_e92e76707e7b461391a7b6f82c95219f|fc_0c58bd1bdd3b672e016adafa0ba7a08192b6bcf5882a698fb7", "name": "read", "input": {"path": ".kinex/devices/instrument/profile.yaml", "offset": null, "limit": null}, "output": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T06:09:08.282336+00:00'\n  updated_at: '2026-10-23T06:09:08.282336+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - adjustment_configure\n    - adjustment_start\n    - balance_block\n    - balance_calibrate_span\n    - balance_reading\n    - balance_request\n    - balance_set_display_unit\n    - balance_set_filter\n    - balance_tare\n    - balance_zero\n    - clock_set\n    - density_start\n    - display_set_unit\n    - door_key\n    - door_operate\n    - group_delete\n    - group_save\n    - load\n    - maintenance_reset\n    - message_acknowledge\n    - method_clone\n    - method_configure\n    - method_create\n    - method_delete\n    - method_item_delete\n    - method_item_save\n    - method_save_itemized\n    - method_start\n    - panel_capture\n    - panel_press\n    - panel_touch\n    - pcs_set_reference\n    - power_set\n    - procedure_cancel\n    - procedure_complete\n    - procedure_confirm\n    - procedure_select_weight\n    - profile_delete\n    - profile_save\n    - profile_set_default\n    - read\n    - scene_set_door\n    - scene_set_pan\n    - session_login\n    - session_logout\n    - settings_configure\n    - standby_set\n    - status\n    - task_add_result\n    - task_cancel\n    - task_complete\n    - task_delete\n    - task_exclude_result\n    - task_set_id\n    - test_configure\n    - test_create\n    - test_delete\n    - test_start\n    - test_weight_delete\n    - test_weight_save\n    - test_weight_save_combined\n    - unblocking_password_set\n    - unload\n    - user_delete\n    - user_management_set\n    - user_save\n    - user_set_password\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_c32192a63c844beab13cf09687a047e6|fc_0c58bd1bdd3b672e016adafa0d3dfc8192af2a277808129c9c", "name": "read", "input": {"path": ".kinex/devices/world/profile.yaml", "offset": null, "limit": null}, "output": "name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T06:09:08.287121+00:00'\n  updated_at: '2026-10-23T06:09:08.287121+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_59fccd5d1f6d4966a7d6ad1fd7353059|fc_0c58bd1bdd3b672e016adafa0d3dfc81928c31471bceebf6c1", "name": "read", "input": {"path": ".kinex/workspace.yaml", "offset": null, "limit": null}, "output": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 12830, "outputTokens": 103, "cachedInputTokens": 12288, "cacheReportedInputTokens": 12830, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 12830, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 103}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "0e34d064", "role": "toolResult", "timestamp": "2026-10-23T06:09:17.333Z", "parts": [{"type": "text", "text": "name: instrument\ntype: other\nintrinsics:\n  source: user\nextrinsics:\n  calibrated_at: null\n  method: manual\n  mount:\n    parent: world\n    parent_frame: world\n    rotation_xyzw:\n    - 0\n    - 0\n    - 0\n    - 1\n    translation_m:\n    - 0\n    - 0\n    - 0\n  source: user\nmeta:\n  created_at: '2026-10-23T06:09:08.282336+00:00'\n  updated_at: '2026-10-23T06:09:08.282336+00:00'\naccess:\n  source: user\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: instrument\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - adjustment_configure\n    - adjustment_start\n    - balance_block\n    - balance_calibrate_span\n    - balance_reading\n    - balance_request\n    - balance_set_display_unit\n    - balance_set_filter\n    - balance_tare\n    - balance_zero\n    - clock_set\n    - density_start\n    - display_set_unit\n    - door_key\n    - door_operate\n    - group_delete\n    - group_save\n    - load\n    - maintenance_reset\n    - message_acknowledge\n    - method_clone\n    - method_configure\n    - method_create\n    - method_delete\n    - method_item_delete\n    - method_item_save\n    - method_save_itemized\n    - method_start\n    - panel_capture\n    - panel_press\n    - panel_touch\n    - pcs_set_reference\n    - power_set\n    - procedure_cancel\n    - procedure_complete\n    - procedure_confirm\n    - procedure_select_weight\n    - profile_delete\n    - profile_save\n    - profile_set_default\n    - read\n    - scene_set_door\n    - scene_set_pan\n    - session_login\n    - session_logout\n    - settings_configure\n    - standby_set\n    - status\n    - task_add_result\n    - task_cancel\n    - task_complete\n    - task_delete\n    - task_exclude_result\n    - task_set_id\n    - test_configure\n    - test_create\n    - test_delete\n    - test_start\n    - test_weight_delete\n    - test_weight_save\n    - test_weight_save_combined\n    - unblocking_password_set\n    - unload\n    - user_delete\n    - user_management_set\n    - user_save\n    - user_set_password\n"}]}, {"id": "ef5fa763", "role": "toolResult", "timestamp": "2026-10-23T06:09:17.333Z", "parts": [{"type": "text", "text": "name: world\ntype: world\nintrinsics:\n  bounds: null\n  calibrated_at: null\n  method: manual\n  source: user\n  surfaces: []\nmeta:\n  created_at: '2026-10-23T06:09:08.287121+00:00'\n  updated_at: '2026-10-23T06:09:08.287121+00:00'\naccess:\n  source: user\n  method: unknown\n  calibrated_at: null\n  connection:\n    kind: url\n    url: http://sim:8123\n    device: world\n  driver:\n    entry: driver.py\n    persistent: true\n    actions:\n    - load\n    - read\n    - status\n    - unload\n    - wait\n"}]}, {"id": "a55a5398", "role": "toolResult", "timestamp": "2026-10-23T06:09:17.333Z", "parts": [{"type": "text", "text": "identity:\n  source: user\n  id: isaaclab-chemlab-instruments\n  name: ChemLab instrument workstation\n  platform: sim\n  kind: other\n  model: No robot; instrument command interface\nsim:\n  source: user\n  simulator: isaaclab\n  notes: Use read for sensor observations and declared instrument commands for operations.\n    World wait advances all instruments. No owner state, reset, or evaluator commands\n    are public.\ndevices:\n  source: user\nsafety:\n  source: user\n  notes: Follow instruction.md for task-specific limits.\nmeta:\n  created_at: '2026-10-02T07:16:00Z'\n  updated_at: '2026-10-02T07:16:00Z'\n"}]}, {"id": "1abac7cf", "role": "assistant", "timestamp": "2026-10-23T06:09:20.332Z", "parts": [{"type": "tool", "callID": "call_f42250f764634b7799082ec1399aede7|fc_0c58bd1bdd3b672e016adafa0edc9c8192a6ef36e40e89b79e", "name": "read", "input": {"path": ".kinex/devices/instrument/driver.py", "offset": null, "limit": null}, "output": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_c3cd0916c0c342e1a7b67e74439635b5|fc_0c58bd1bdd3b672e016adafa10423c819282b75213e10a3571", "name": "read", "input": {"path": ".kinex/devices/instrument/intrinsics.json", "offset": null, "limit": null}, "output": "{\n  \"instrument\": {\n    \"asset_id\": \"instrument.mt_xpr204e\",\n    \"catalog_id\": \"CHEM-001\",\n    \"domain\": \"Basic Metrology & Sample Handling\",\n    \"manufacturer\": \"METTLER TOLEDO\",\n    \"model\": \"XPR204E\",\n    \"name\": \"Analytical balance\",\n    \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\",\n    \"size_m\": [\n      0.209,\n      0.4604,\n      0.339\n    ],\n    \"state_slots\": {\n      \"adjustment.last\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"adjustment.settings\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"balance.calibrated\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.display_unit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"kg\",\n            \"g\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.filter_level\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"Low\",\n            \"Medium\",\n            \"High\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.gross_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"kg\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"balance.net_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"kg\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"balance.stability_elapsed_s\": {\n        \"unit\": \"s\",\n        \"value_schema\": {\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"s\"\n        }\n      },\n      \"balance.stable\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.status\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"OFF\",\n            \"PAN_REMOVED\",\n            \"PAN_UNLATCHED\",\n            \"TRANSPORT_LOCKED\",\n            \"OVERLOAD\",\n            \"UNDERLOAD\",\n            \"UNSTABLE\",\n            \"STABLE\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.synthetic\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"const\": true,\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.tare_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"kg\"\n        }\n      },\n      \"balance.task_ready\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.blocked\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.datetime\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"pattern\": \"^\\\\d{4}-\\\\d{2}-\\\\d{2}T\\\\d{2}:\\\\d{2}:\\\\d{2}$\",\n          \"type\": \"string\"\n        }\n      },\n      \"device.language\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"English\",\n            \"Deutsch\",\n            \"Fran\\u00e7ais\",\n            \"\\u65e5\\u672c\\u8a9e\",\n            \"\\u4e2d\\u6587\",\n            \"Espa\\u00f1ol\",\n            \"Italiano\",\n            \"\\u0420\\u0443\\u0441\\u0441\\u043a\\u0438\\u0439\",\n            \"Portugu\\u00eas\",\n            \"Polski\",\n            \"Magyar\",\n            \"\\u010ce\\u0161tina\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"device.messages\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"additionalProperties\": false,\n            \"properties\": {\n              \"acknowledged\": {\n                \"type\": \"boolean\"\n              },\n              \"action\": {\n                \"anyOf\": [\n                  {\n                    \"type\": \"string\"\n                  },\n                  {\n                    \"type\": \"null\"\n                  }\n                ]\n              },\n              \"id\": {\n                \"type\": \"string\"\n              },\n              \"key\": {\n                \"type\": \"string\"\n              },\n              \"level\": {\n                \"enum\": [\n                  \"info\",\n                  \"warning\",\n                  \"error\"\n                ],\n                \"type\": \"string\"\n              },\n              \"text\": {\n                \"type\": \"string\"\n              },\n              \"time\": {\n                \"anyOf\": [\n                  {\n                    \"type\": \"string\"\n                  },\n                  {\n                    \"type\": \"null\"\n                  }\n                ]\n              }\n            },\n            \"required\": [\n              \"id\",\n              \"key\",\n              \"level\",\n              \"text\",\n              \"action\",\n              \"time\",\n              \"acknowledged\"\n            ],\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"device.settings\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"minProperties\": 0,\n          \"properties\": {\n            \"bluetooth.activation\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Active\"\n              ],\n              \"type\": \"string\"\n            },\n            \"door_left.automatic\": {\n              \"type\": \"boolean\"\n            },\n            \"door_left.devices\": {\n              \"type\": \"boolean\"\n            },\n            \"door_left.drive_mode\": {\n              \"enum\": [\n                \"Motorized\",\n                \"Manual\"\n              ],\n              \"type\": \"string\"\n            },\n            \"door_left.key_left\": {\n              \"type\": \"boolean\"\n            },\n            \"door_left.key_right\": {\n              \"type\": \"boolean\"\n            },\n            \"door_left.opening\": {\n              \"maximum\": 100,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"door_right.automatic\": {\n              \"type\": \"boolean\"\n            },\n            \"door_right.devices\": {\n              \"type\": \"boolean\"\n            },\n            \"door_right.drive_mode\": {\n              \"enum\": [\n                \"Motorized\",\n                \"Manual\"\n              ],\n              \"type\": \"string\"\n            },\n            \"door_right.key_left\": {\n              \"type\": \"boolean\"\n            },\n            \"door_right.key_right\": {\n              \"type\": \"boolean\"\n            },\n            \"door_right.opening\": {\n              \"maximum\": 100,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"dosing.label_copies\": {\n              \"maximum\": 99,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"dosing.label_template\": {\n              \"enum\": [\n                \"5 large fields\",\n                \"5 small fields\",\n                \"10 small fields\",\n                \"1D barcode with 3 large fields\",\n                \"1D barcode with 3 small fields\",\n                \"1D barcode with 6 small fields\",\n                \"2D barcode with 5 large fields\",\n                \"2D barcode with 5 small fields\",\n                \"2D barcode with 2 large fields and 6 small fields\",\n                \"2D barcode with 8 small fields\"\n              ],\n              \"type\": \"string\"\n            },\n            \"dosing.pressure_hold\": {\n              \"maximum\": 180,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"min\"\n            },\n            \"ethernet.dns1\": {\n              \"maxLength\": 15,\n              \"minLength\": 7,\n              \"pattern\": \"^(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)(\\\\.(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)){3}$\",\n              \"type\": \"string\"\n            },\n            \"ethernet.dns2\": {\n              \"maxLength\": 15,\n              \"minLength\": 7,\n              \"pattern\": \"^(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)(\\\\.(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)){3}$\",\n              \"type\": \"string\"\n            },\n            \"ethernet.gateway\": {\n              \"maxLength\": 15,\n              \"minLength\": 7,\n              \"pattern\": \"^(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)(\\\\.(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)){3}$\",\n              \"type\": \"string\"\n            },\n            \"ethernet.host_name\": {\n              \"maxLength\": 22,\n              \"minLength\": 1,\n              \"type\": \"string\"\n            },\n            \"ethernet.ip\": {\n              \"maxLength\": 15,\n              \"minLength\": 7,\n              \"pattern\": \"^(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)(\\\\.(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)){3}$\",\n              \"type\": \"string\"\n            },\n            \"ethernet.network\": {\n              \"enum\": [\n                \"DHCP\",\n                \"Manual\"\n              ],\n              \"type\": \"string\"\n            },\n            \"ethernet.subnet\": {\n              \"maxLength\": 15,\n              \"minLength\": 7,\n              \"pattern\": \"^(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)(\\\\.(25[0-5]|2[0-4]\\\\d|1?\\\\d?\\\\d)){3}$\",\n              \"type\": \"string\"\n            },\n            \"general.balance_id\": {\n              \"maxLength\": 22,\n              \"minLength\": 0,\n              \"pattern\": \"^[A-Za-z0-9]*$\",\n              \"type\": \"string\"\n            },\n            \"general.export_directory\": {\n              \"enum\": [\n                \"USB storage device\",\n                \"File server\"\n              ],\n              \"type\": \"string\"\n            },\n            \"general.standby\": {\n              \"type\": \"boolean\"\n            },\n            \"general.standby_wait\": {\n              \"maximum\": 60,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"min\"\n            },\n            \"general.update_on_startup\": {\n              \"type\": \"boolean\"\n            },\n            \"output.date\": {\n              \"type\": \"boolean\"\n            },\n            \"output.decimal_delimiter\": {\n              \"enum\": [\n                \",\",\n                \".\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.end_of_line\": {\n              \"enum\": [\n                \"CRLF\",\n                \"CR\",\n                \"LF\",\n                \"TAB\",\n                \"None\",\n                \"Enter\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.field_delimiter\": {\n              \"enum\": [\n                \"None\",\n                \"Space\",\n                \"TAB\",\n                \",\",\n                \";\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.format\": {\n              \"enum\": [\n                \"MT-SICS\",\n                \"PM\",\n                \"AT/MT\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.mode\": {\n              \"enum\": [\n                \"Results\",\n                \"Continuous\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.net_indicator\": {\n              \"type\": \"boolean\"\n            },\n            \"output.net_indicator_length\": {\n              \"maximum\": 2,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.result_id_1\": {\n              \"type\": \"boolean\"\n            },\n            \"output.result_id_2\": {\n              \"type\": \"boolean\"\n            },\n            \"output.sign\": {\n              \"enum\": [\n                \"For all values\",\n                \"For negative values\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.sign_position\": {\n              \"enum\": [\n                \"Left of weight field\",\n                \"Left of weight digits\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.target\": {\n              \"enum\": [\n                \"HID\",\n                \"HID / MT-SICS\",\n                \"MT-SICS\",\n                \"MT-SICS configurable\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.time\": {\n              \"type\": \"boolean\"\n            },\n            \"output.unit\": {\n              \"type\": \"boolean\"\n            },\n            \"output.unit_field_length\": {\n              \"maximum\": 6,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.updates_per_s\": {\n              \"enum\": [\n                2,\n                5,\n                6,\n                10\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.weight_field_length\": {\n              \"maximum\": 20,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"quality.balance_recal_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.balance_recal_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.calib_block_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.calib_expired_action\": {\n              \"enum\": [\n                \"None\",\n                \"Block\"\n              ],\n              \"type\": \"string\"\n            },\n            \"quality.change_history\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.gwp_approved\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.leveling_warning\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Optional leveling\",\n                \"Forced leveling\"\n              ],\n              \"type\": \"string\"\n            },\n            \"quality.service_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.service_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.weight_recal_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.weight_recal_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"region.date_format\": {\n              \"enum\": [\n                \"D.MMM.YYYY\",\n                \"MMM D YYYY\",\n                \"DD.MM.YYYY\",\n                \"MM/DD/YYYY\",\n                \"YYYY-MM-DD\",\n                \"YYYY/MM/DD\",\n                \"YYYY\\u5e74M\\u6708D\\u65e5\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.keyboard\": {\n              \"enum\": [\n                \"English\",\n                \"German\",\n                \"French\",\n                \"Spanish\",\n                \"Japanese\",\n                \"Simplified Chinese\",\n                \"Russian\",\n                \"Czech\",\n                \"Polish\",\n                \"Hungarian\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.language\": {\n              \"enum\": [\n                \"English\",\n                \"Deutsch\",\n                \"Fran\\u00e7ais\",\n                \"\\u65e5\\u672c\\u8a9e\",\n                \"\\u4e2d\\u6587\",\n                \"Espa\\u00f1ol\",\n                \"Italiano\",\n                \"\\u0420\\u0443\\u0441\\u0441\\u043a\\u0438\\u0439\",\n                \"Portugu\\u00eas\",\n                \"Polski\",\n                \"Magyar\",\n                \"\\u010ce\\u0161tina\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.time_format\": {\n              \"enum\": [\n                \"24:MM\",\n                \"12:MM\",\n                \"24.MM\",\n                \"12.MM\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.time_zone\": {\n              \"enum\": [\n                \"UTC\",\n                \"Europe/Zurich\",\n                \"Europe/London\",\n                \"America/New_York\",\n                \"America/Chicago\",\n                \"America/Los_Angeles\",\n                \"Asia/Shanghai\",\n                \"Asia/Tokyo\",\n                \"Asia/Kolkata\",\n                \"Australia/Sydney\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.brightness\": {\n              \"enum\": [\n                20,\n                40,\n                60,\n                80,\n                100\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"screen.sound_error\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_info\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_key\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_volume\": {\n              \"enum\": [\n                \"Inactive\",\n                \"20 %\",\n                \"40 %\",\n                \"60 %\",\n                \"80 %\",\n                \"100 %\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.sound_warning\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.status_light\": {\n              \"enum\": [\n                \"Active\",\n                \"Active (without green light)\",\n                \"Inactive\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.status_light_brightness\": {\n              \"enum\": [\n                20,\n                40,\n                60,\n                80,\n                100\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"services.file_server\": {\n              \"type\": \"boolean\"\n            },\n            \"services.fs_domain\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_import_path\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_password\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_server\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_share\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_user\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.labx\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Network\"\n              ],\n              \"type\": \"string\"\n            },\n            \"services.labx_port\": {\n              \"maximum\": 65535,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"services.mtsics\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Network\",\n                \"USB\"\n              ],\n              \"type\": \"string\"\n            },\n            \"services.mtsics_port\": {\n              \"maximum\": 65535,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"services.web\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Active\"\n              ],\n              \"type\": \"string\"\n            },\n            \"users.automatic_logout\": {\n              \"type\": \"boolean\"\n            },\n            \"users.logout_wait\": {\n              \"maximum\": 60,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"min\"\n            },\n            \"users.password_reset\": {\n              \"enum\": [\n                \"Allowed\",\n                \"Not allowed\"\n              ],\n              \"type\": \"string\"\n            },\n            \"users.user_proposals\": {\n              \"type\": \"boolean\"\n            }\n          },\n          \"type\": \"object\"\n        }\n      },\n      \"device.standby\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.status_light\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"off\",\n            \"green\",\n            \"yellow\",\n            \"red\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"display.allowed_units\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"string\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"display.smarttrac\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"active\": {\n              \"type\": \"boolean\"\n            },\n            \"color\": {\n              \"enum\": [\n                \"neutral\",\n                \"ok\",\n                \"warn\",\n                \"error\"\n              ],\n              \"type\": \"string\"\n            },\n            \"fraction\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"high\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"low\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"minus_text\": {\n              \"type\": \"string\"\n            },\n            \"plus_text\": {\n              \"type\": \"string\"\n            },\n            \"target_text\": {\n              \"type\": \"string\"\n            }\n          },\n          \"required\": [\n            \"active\",\n            \"fraction\",\n            \"low\",\n            \"high\",\n            \"target_text\",\n            \"minus_text\",\n            \"plus_text\",\n            \"color\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"display.unit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"string\"\n        }\n      },\n      \"display.weight\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"busy\": {\n              \"type\": \"string\"\n            },\n            \"calculated\": {\n              \"type\": \"boolean\"\n            },\n            \"indicator\": {\n              \"anyOf\": [\n                {\n                  \"additionalProperties\": false,\n                  \"properties\": {\n                    \"color\": {\n                      \"type\": \"string\"\n                    },\n                    \"text\": {\n                      \"type\": \"string\"\n                    }\n                  },\n                  \"required\": [\n                    \"color\",\n                    \"text\"\n                  ],\n                  \"type\": \"object\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"info_text\": {\n              \"type\": \"string\"\n            },\n            \"net\": {\n              \"type\": \"boolean\"\n            },\n            \"stable\": {\n              \"type\": \"boolean\"\n            },\n            \"state\": {\n              \"enum\": [\n                \"value\",\n                \"overload\",\n                \"underload\",\n                \"none\",\n                \"off\"\n              ],\n              \"type\": \"string\"\n            },\n            \"text\": {\n              \"type\": \"string\"\n            },\n            \"unit\": {\n              \"type\": \"string\"\n            }\n          },\n          \"required\": [\n            \"text\",\n            \"unit\",\n            \"info_text\",\n            \"net\",\n            \"stable\",\n            \"calculated\",\n            \"state\",\n            \"busy\",\n            \"indicator\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"door.left.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"door.right.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"door.top.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"environment.tilt_rad\": {\n        \"unit\": \"rad\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"rad\"\n        }\n      },\n      \"environment.vibration\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"history.adjustments\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"history.changes\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"history.tests\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"level.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"instruction\": {\n              \"type\": \"string\"\n            },\n            \"ok\": {\n              \"type\": \"boolean\"\n            },\n            \"ok_radius\": {\n              \"maximum\": 1,\n              \"minimum\": 0,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            \"tilt_deg\": {\n              \"minimum\": 0,\n              \"type\": \"number\",\n              \"x-unit\": \"deg\"\n            },\n            \"x\": {\n              \"maximum\": 1,\n              \"minimum\": -1,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            \"y\": {\n              \"maximum\": 1,\n              \"minimum\": -1,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            }\n          },\n          \"required\": [\n            \"ok\",\n            \"tilt_deg\",\n            \"x\",\n            \"y\",\n            \"ok_radius\",\n            \"instruction\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"methods.active\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"string\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"methods.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"pan.installed\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"power.enabled\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"procedure.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"profiles.default\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"string\"\n        }\n      },\n      \"profiles.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"task.current\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"task.paused\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"task.statistics\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"test_weights.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"tests.list\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"users.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"block_id\": {\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"block_reason\": {\n              \"anyOf\": [\n                {\n                  \"type\": \"string\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"current_user\": {\n              \"type\": \"string\"\n            },\n            \"groups\": {\n              \"items\": {\n                \"type\": \"object\"\n              },\n              \"type\": \"array\"\n            },\n            \"logged_in\": {\n              \"type\": \"boolean\"\n            },\n            \"management\": {\n              \"type\": \"boolean\"\n            },\n            \"rights\": {\n              \"additionalProperties\": false,\n              \"properties\": {\n                \"block_unblock\": {\n                  \"type\": \"boolean\"\n                },\n                \"cancel_task\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_methods\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_system\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_tests\": {\n                  \"type\": \"boolean\"\n                },\n                \"configure_users\": {\n                  \"type\": \"boolean\"\n                },\n                \"exclude_overwrite\": {\n                  \"type\": \"boolean\"\n                },\n                \"execute_service\": {\n                  \"type\": \"boolean\"\n                },\n                \"show_change_history\": {\n                  \"type\": \"boolean\"\n                },\n                \"start_external_adjustment\": {\n                  \"type\": \"boolean\"\n                },\n                \"start_tests\": {\n                  \"type\": \"boolean\"\n                }\n              },\n              \"required\": [\n                \"block_unblock\",\n                \"configure_methods\",\n                \"exclude_overwrite\",\n                \"cancel_task\",\n                \"configure_system\",\n                \"configure_users\",\n                \"execute_service\",\n                \"start_external_adjustment\",\n                \"show_change_history\",\n                \"configure_tests\",\n                \"start_tests\"\n              ],\n              \"type\": \"object\"\n            },\n            \"unblocking_password_set\": {\n              \"type\": \"boolean\"\n            },\n            \"users\": {\n              \"items\": {\n                \"type\": \"object\"\n              },\n              \"type\": \"array\"\n            }\n          },\n          \"required\": [\n            \"management\",\n            \"current_user\",\n            \"logged_in\",\n            \"rights\",\n            \"users\",\n            \"groups\",\n            \"unblocking_password_set\",\n            \"block_reason\",\n            \"block_id\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"weighing.pending\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"enum\": [\n                \"zero\",\n                \"tare\",\n                \"capture\"\n              ],\n              \"type\": \"string\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      }\n    }\n  },\n  \"source\": \"user\"\n}\n", "isError": false, "metadata": {}}, {"type": "tool", "callID": "call_9cbdcbb67d5445d1979b73a91b1a5f9e|fc_0c58bd1bdd3b672e016adafa10423c81928dd8e5b8f7df1432", "name": "device", "input": {"deviceID": "instrument", "action": "read"}, "output": "{\n  \"observations\": {\n    \"adjustment.last\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":null},\n    \"adjustment.settings\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":{\"as_found\":false,\"as_left\":false,\"automatic_print\":false,\"block_balance\":false,\"control_limit\":0.1,\"preferred_days\":[\"Monday\",\"Tuesday\",\"Wednesday\",\"Thursday\",\"Friday\"],\"schedule\":\"1 start time\",\"start_after_leveling\":false,\"start_after_temperature\":true,\"start_time_1\":\"08:00\",\"start_time_2\":\"12:00\",\"start_time_3\":\"16:00\",\"strategy\":\"Internal adjustment\",\"tpl_balance\":[\"Balance type\",\"Balance ID\",\"Balance serial number\",\"Software version\"],\"tpl_details\":[\"Trigger\",\"Cell temperature\",\"Level state\",\"Date/time\",\"User name\"],\"tpl_header\":[\"Title\",\"Title text\",\"Date/time\",\"User name\",\"Signature\",\"Separating lines\",\"Group titles\"],\"tpl_results\":[\"Correction\",\"Test deviation \\\"as found\\\"\",\"Test deviation \\\"as left\\\"\",\"Test result \\\"as found\\\"\",\"Test result \\\"as left\\\"\"],\"tpl_summary\":[\"Adjustment type\",\"Adjustment status\",\"Balance adjusted\"],\"warning_limit\":0.05,\"weight\":null}},\n    \"balance.calibrated\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":false},\n    \"balance.display_unit\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"g\"},\n    \"balance.filter_level\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"Medium\"},\n    \"balance.gross_kg\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"kg\",\"value\":null},\n    \"balance.net_kg\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"kg\",\"value\":null},\n    \"balance.stability_elapsed_s\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"s\",\"value\":0},\n    \"balance.stable\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":false},\n    \"balance.status\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":\"OFF\"},\n    \"balance.synthetic\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":true},\n    \"balance.tare_kg\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"kg\",\"value\":0},\n    \"balance.task_ready\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":false},\n    \"device.blocked\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":false},\n    \"device.datetime\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":\"2026-01-01T00:00:14\"},\n    \"device.language\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":\"English\"},\n    \"device.messages\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":[]},\n    \"device.settings\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":{\"bluetooth.activation\":\"Inactive\",\"door_left.automatic\":false,\"door_left.devices\":false,\"door_left.drive_mode\":\"Motorized\",\"door_left.key_left\":true,\"door_left.key_right\":false,\"door_left.opening\":100,\"door_right.automatic\":false,\"door_right.devices\":false,\"door_right.drive_mode\":\"Motorized\",\"door_right.key_left\":false,\"door_right.key_right\":true,\"door_right.opening\":100,\"dosing.label_copies\":1,\"dosing.label_template\":\"5 large fields\",\"dosing.pressure_hold\":10,\"ethernet.dns1\":\"0.0.0.0\",\"ethernet.dns2\":\"0.0.0.0\",\"ethernet.gateway\":\"0.0.0.0\",\"ethernet.host_name\":\"XPR204E\",\"ethernet.ip\":\"192.168.0.10\",\"ethernet.network\":\"DHCP\",\"ethernet.subnet\":\"255.255.255.0\",\"general.balance_id\":\"\",\"general.export_directory\":\"USB storage device\",\"general.standby\":true,\"general.standby_wait\":10,\"general.update_on_startup\":true,\"output.date\":false,\"output.decimal_delimiter\":\".\",\"output.end_of_line\":\"Enter\",\"output.field_delimiter\":\"Space\",\"output.format\":\"MT-SICS\",\"output.mode\":\"Results\",\"output.net_indicator\":false,\"output.net_indicator_length\":2,\"output.result_id_1\":false,\"output.result_id_2\":false,\"output.sign\":\"For negative values\",\"output.sign_position\":\"Left of weight digits\",\"output.target\":\"HID\",\"output.time\":false,\"output.unit\":true,\"output.unit_field_length\":1,\"output.updates_per_s\":6,\"output.weight_field_length\":1,\"quality.balance_recal_days\":30,\"quality.balance_recal_reminder\":true,\"quality.calib_block_days\":30,\"quality.calib_expired_action\":\"None\",\"quality.change_history\":false,\"quality.gwp_approved\":false,\"quality.leveling_warning\":\"Optional leveling\",\"quality.service_days\":30,\"quality.service_reminder\":false,\"quality.weight_recal_days\":30,\"quality.weight_recal_reminder\":false,\"region.date_format\":\"D.MMM.YYYY\",\"region.keyboard\":\"English\",\"region.language\":\"English\",\"region.time_format\":\"24:MM\",\"region.time_zone\":\"UTC\",\"screen.brightness\":80,\"screen.sound_error\":true,\"screen.sound_info\":true,\"screen.sound_key\":true,\"screen.sound_volume\":\"60 %\",\"screen.sound_warning\":true,\"screen.status_light\":\"Active\",\"screen.status_light_brightness\":60,\"services.file_server\":false,\"services.fs_domain\":\"\",\"services.fs_import_path\":\"Import\",\"services.fs_password\":\"\",\"services.fs_server\":\"\",\"services.fs_share\":\"\",\"services.fs_user\":\"\",\"services.labx\":\"Inactive\",\"services.labx_port\":8001,\"services.mtsics\":\"Inactive\",\"services.mtsics_port\":8001,\"services.web\":\"Inactive\",\"users.automatic_logout\":true,\"users.logout_wait\":10,\"users.password_reset\":\"Allowed\",\"users.user_proposals\":true}},\n    \"device.standby\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":false},\n    \"device.status_light\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":\"off\"},\n    \"display.allowed_units\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":[\"g\",\"mg\",\"µg\",\"kg\",\"ct\",\"N\",\"lb\",\"oz\",\"ozt\",\"GN\",\"dwt\",\"mom\",\"msg\",\"tlh\",\"tls\",\"tlt\",\"tola\",\"baht\"]},\n    \"display.smarttrac\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":{\"active\":false,\"color\":\"neutral\",\"fraction\":null,\"high\":null,\"low\":null,\"minus_text\":\"\",\"plus_text\":\"\",\"target_text\":\"\"}},\n    \"display.unit\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"g\"},\n    \"display.weight\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":{\"busy\":\"\",\"calculated\":false,\"indicator\":null,\"info_text\":\"\",\"net\":false,\"stable\":false,\"state\":\"off\",\"text\":\"\",\"unit\":\"g\"}},\n    \"door.left.opening_m\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"m\",\"value\":0},\n    \"door.right.opening_m\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"m\",\"value\":0},\n    \"door.top.opening_m\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"m\",\"value\":0},\n    \"environment.tilt_rad\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"rad\",\"value\":0},\n    \"environment.vibration\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":false},\n    \"history.adjustments\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":[]},\n    \"history.changes\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":[]},\n    \"history.tests\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":[]},\n    \"level.state\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":{\"instruction\":\"The balance is leveled.\",\"ok\":true,\"ok_radius\":0.3333,\"tilt_deg\":0,\"x\":0,\"y\":0}},\n    \"methods.active\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"m1\"},\n    \"methods.list\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":[{\"active\":true,\"comment\":\"\",\"created\":\"2026-01-01\",\"id\":\"m1\",\"items\":[],\"lock\":false,\"name\":\"General Weighing\",\"paused\":false,\"settings\":{\"auto.barcode_target\":\"Keyboard Input\",\"auto.feeder\":false,\"auto.feeder_discharge\":false,\"auto.feeder_items\":20,\"auto.feeder_plausibility\":30,\"auto.feeder_rate\":\"Normal\",\"auto.preset_tare\":null,\"auto.result\":\"With sample tare\",\"auto.result_threshold\":null,\"auto.tare_after_result\":false,\"auto.tare_mode\":\"None\",\"auto.tare_threshold\":null,\"auto.weight_trigger\":\"Exceeding\",\"auto.zero\":false,\"auto.zero_threshold\":null,\"comment\":\"\",\"custom.active\":false,\"custom.factor\":1,\"custom.formula\":\"Multiplicative\",\"custom.name\":\"cu1\",\"custom.readability\":0.0001,\"ids.result_1_default\":\"\",\"ids.result_1_description\":\"Sample ID\",\"ids.result_1_prefix\":\"\",\"ids.result_1_type\":\"Manual with default\",\"ids.result_2_default\":\"\",\"ids.result_2_description\":\"Result ID 2\",\"ids.result_2_prefix\":\"\",\"ids.result_2_type\":\"Manual with default\",\"ids.result_3_default\":\"\",\"ids.result_3_description\":\"Result ID 3\",\"ids.result_3_prefix\":\"\",\"ids.result_3_type\":\"Manual with default\",\"ids.result_count\":1,\"ids.task_1_default\":\"\",\"ids.task_1_description\":\"Task ID\",\"ids.task_1_prefix\":\"\",\"ids.task_1_type\":\"Manual with default\",\"ids.task_2_default\":\"\",\"ids.task_2_description\":\"Task ID 2\",\"ids.task_2_prefix\":\"\",\"ids.task_2_type\":\"Manual with default\",\"ids.task_3_default\":\"\",\"ids.task_3_description\":\"Task ID 3\",\"ids.task_3_prefix\":\"\",\"ids.task_3_type\":\"Manual with default\",\"ids.task_count\":1,\"item.target\":null,\"item.tol_minus\":2.5,\"item.tol_plus\":2.5,\"item.unit\":\"g\",\"label_item.auto\":false,\"label_item.copies\":1,\"label_item.template\":\"5 large fields\",\"label_task.auto\":false,\"label_task.copies\":1,\"label_task.template\":\"5 large fields\",\"lock\":false,\"name\":\"General Weighing\",\"print.label_cutting\":\"Off\",\"print.results_export\":false,\"print.strip_printer\":false,\"print.tpl_balance\":[\"Balance type\",\"Balance ID\",\"Balance serial number\",\"Software version\"],\"print.tpl_header\":[\"Title\",\"Title text\",\"Date/time\",\"User name\",\"Signature\",\"Separating lines\",\"Group titles\"],\"print.tpl_item\":[\"Show excluded weighing items\",\"Result state\",\"Result IDs\",\"GWP Approved state\",\"Level state\",\"MinWeigh state\",\"Tolerance state\",\"Target and tolerances\"],\"print.tpl_quality\":[\"Tolerance profile\",\"Adjustment date/time\",\"Routine test name\",\"Routine test last execution date\",\"Routine test result\",\"GWP Approved state\",\"Level state\",\"MinWeigh state\"],\"print.tpl_result\":[\"Weight\",\"Tare weight\",\"Gross weight\",\"Info weight\",\"Date/time\",\"Stability\"],\"print.tpl_task\":[\"Method name\",\"Method comment\",\"Task IDs\",\"Custom unit settings\",\"Automatic result settings\",\"Count\",\"Sum\",\"Average\",\"Minimum\",\"Maximum\",\"Range\",\"Standard deviation\",\"Relative standard deviation\"],\"print.weight_value\":false,\"weighing.capture_delay\":5,\"weighing.capture_mode\":\"Stable\",\"weighing.info_unit\":\"mg\",\"weighing.ionizer\":false,\"weighing.profile\":null,\"weighing.show_info\":false,\"weighing.smarttrac\":true,\"weighing.statistics\":false},\"type\":\"General weighing\"}]},\n    \"pan.installed\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":true},\n    \"power.enabled\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":false},\n    \"procedure.state\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":null},\n    \"profiles.default\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":\"tp1\"},\n    \"profiles.list\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":[{\"certificate\":\"None\",\"environment\":\"Standard\",\"id\":\"tp1\",\"indicator\":\"None\",\"indicator_text\":\"\",\"name\":\"Default\",\"readability\":\"1d\",\"units\":[\"g\",\"mg\",\"µg\",\"kg\",\"ct\",\"N\",\"lb\",\"oz\",\"ozt\",\"GN\",\"dwt\",\"mom\",\"msg\",\"tlh\",\"tls\",\"tlt\",\"tola\",\"baht\"],\"value_release\":\"Fast and reliable\",\"weighing_mode\":\"Universal\",\"zero_drift\":true}]},\n    \"task.current\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":{\"item\":null,\"item_index\":0,\"method_id\":\"m1\",\"method_name\":\"General Weighing\",\"method_type\":\"General weighing\",\"pending\":null,\"result_descriptions\":[\"Sample ID\"],\"result_ids\":[\"\"],\"results\":[],\"started\":\"2026-01-01T00:00:00\",\"task_descriptions\":[\"Task ID\"],\"task_ids\":[\"\"]}},\n    \"task.paused\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":[]},\n    \"task.statistics\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":null},\n    \"test_weights.list\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":[]},\n    \"tests.list\": {\"quality\":\"valid\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":false,\"unit\":\"1\",\"value\":[]},\n    \"users.state\": {\"quality\":\"estimated\",\"reason\":null,\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":{\"block_id\":0,\"block_reason\":null,\"current_user\":\"Administrator\",\"groups\":[{\"block_unblock\":true,\"cancel_task\":true,\"configure_methods\":true,\"configure_system\":true,\"configure_tests\":true,\"configure_users\":true,\"exclude_overwrite\":true,\"execute_service\":true,\"group_name\":\"Administrators\",\"show_change_history\":true,\"start_external_adjustment\":true,\"start_tests\":true}],\"logged_in\":true,\"management\":false,\"rights\":{\"block_unblock\":true,\"cancel_task\":true,\"configure_methods\":true,\"configure_system\":true,\"configure_tests\":true,\"configure_users\":true,\"exclude_overwrite\":true,\"execute_service\":true,\"show_change_history\":true,\"start_external_adjustment\":true,\"start_tests\":true},\"unblocking_password_set\":false,\"users\":[{\"active\":true,\"first_name\":\"\",\"groups\":[\"Administrators\"],\"language\":\"English\",\"last_name\":\"\",\"user_name\":\"Administrator\"}]}},\n    \"weighing.pending\": {\"quality\":\"unavailable\",\"reason\":\"No reading is available in the current acquisition, power, pan or range state.\",\"sample_time_s\":14.899999999999963,\"sample_window_s\":null,\"synthetic\":true,\"unit\":\"1\",\"value\":null}\n  },\n  \"timestamp\": 14.9\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 13849, "outputTokens": 99, "cachedInputTokens": 12672, "cacheReportedInputTokens": 13849, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 13849, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 99}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "24218c33", "role": "toolResult", "timestamp": "2026-10-23T06:09:20.335Z", "parts": [{"type": "text", "text": "\"\"\"Generic remote device adapter; transport and dialog are shared with typed drivers.\"\"\"\n\nimport sys\nfrom pathlib import Path\n\nsys.dont_write_bytecode = True\nsys.path.insert(0, str(Path(__file__).resolve().parent.parent))\nfrom _roboenv import Transport, WireError, main  # noqa: E402\n\ntransport = Transport(__file__, device=Path(__file__).parent.name)\nremote = transport.remote\n\n\ndef handle(action, args):\n    try:\n        if action == \"unload\" and transport.can_stop:\n            stopped = remote(\"stop\", {})\n            if stopped.get(\"stopped\") is not True:\n                raise ValueError(\"Remote device did not acknowledge stop\")\n        data = remote(action, args)\n        return {**(data if isinstance(data, dict) else {\"result\": data}), \"ok\": True}\n    except WireError as exc:\n        return {\"ok\": False, \"error\": str(exc), \"code\": exc.code, \"request_id\": exc.request_id}\n    except Exception as exc:\n        return {\"ok\": False, \"error\": str(exc)}\n\n\nif __name__ == \"__main__\":\n    main(handle, transport)\n"}]}, {"id": "9c0f8160", "role": "toolResult", "timestamp": "2026-10-23T06:09:20.336Z", "parts": [{"type": "text", "text": "{\n  \"instrument\": {\n    \"asset_id\": \"instrument.mt_xpr204e\",\n    \"catalog_id\": \"CHEM-001\",\n    \"domain\": \"Basic Metrology & Sample Handling\",\n    \"manufacturer\": \"METTLER TOLEDO\",\n    \"model\": \"XPR204E\",\n    \"name\": \"Analytical balance\",\n    \"release\": \"a6c006f921c9bee62f5585dd7f769163a7f51573\",\n    \"size_m\": [\n      0.209,\n      0.4604,\n      0.339\n    ],\n    \"state_slots\": {\n      \"adjustment.last\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"object\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"adjustment.settings\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"object\"\n        }\n      },\n      \"balance.calibrated\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.display_unit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"kg\",\n            \"g\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.filter_level\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"Low\",\n            \"Medium\",\n            \"High\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.gross_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"kg\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"balance.net_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"anyOf\": [\n            {\n              \"type\": \"number\",\n              \"x-unit\": \"kg\"\n            },\n            {\n              \"type\": \"null\"\n            }\n          ]\n        }\n      },\n      \"balance.stability_elapsed_s\": {\n        \"unit\": \"s\",\n        \"value_schema\": {\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"s\"\n        }\n      },\n      \"balance.stable\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.status\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"OFF\",\n            \"PAN_REMOVED\",\n            \"PAN_UNLATCHED\",\n            \"TRANSPORT_LOCKED\",\n            \"OVERLOAD\",\n            \"UNDERLOAD\",\n            \"UNSTABLE\",\n            \"STABLE\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"balance.synthetic\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"const\": true,\n          \"type\": \"boolean\"\n        }\n      },\n      \"balance.tare_kg\": {\n        \"unit\": \"kg\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"kg\"\n        }\n      },\n      \"balance.task_ready\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.blocked\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.datetime\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"pattern\": \"^\\\\d{4}-\\\\d{2}-\\\\d{2}T\\\\d{2}:\\\\d{2}:\\\\d{2}$\",\n          \"type\": \"string\"\n        }\n      },\n      \"device.language\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"English\",\n            \"Deutsch\",\n            \"Fran\\u00e7ais\",\n            \"\\u65e5\\u672c\\u8a9e\",\n            \"\\u4e2d\\u6587\",\n            \"Espa\\u00f1ol\",\n            \"Italiano\",\n            \"\\u0420\\u0443\\u0441\\u0441\\u043a\\u0438\\u0439\",\n            \"Portugu\\u00eas\",\n            \"Polski\",\n            \"Magyar\",\n            \"\\u010ce\\u0161tina\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"device.messages\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"additionalProperties\": false,\n            \"properties\": {\n              \"acknowledged\": {\n                \"type\": \"boolean\"\n              },\n              \"action\": {\n                \"anyOf\": [\n                  {\n                    \"type\": \"string\"\n                  },\n                  {\n                    \"type\": \"null\"\n                  }\n                ]\n              },\n              \"id\": {\n                \"type\": \"string\"\n              },\n              \"key\": {\n                \"type\": \"string\"\n              },\n              \"level\": 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\"output.field_delimiter\": {\n              \"enum\": [\n                \"None\",\n                \"Space\",\n                \"TAB\",\n                \",\",\n                \";\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.format\": {\n              \"enum\": [\n                \"MT-SICS\",\n                \"PM\",\n                \"AT/MT\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.mode\": {\n              \"enum\": [\n                \"Results\",\n                \"Continuous\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.net_indicator\": {\n              \"type\": \"boolean\"\n            },\n            \"output.net_indicator_length\": {\n              \"maximum\": 2,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.result_id_1\": {\n              \"type\": \"boolean\"\n            },\n            \"output.result_id_2\": {\n              \"type\": \"boolean\"\n            },\n            \"output.sign\": {\n              \"enum\": [\n                \"For all values\",\n                \"For negative values\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.sign_position\": {\n              \"enum\": [\n                \"Left of weight field\",\n                \"Left of weight digits\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.target\": {\n              \"enum\": [\n                \"HID\",\n                \"HID / MT-SICS\",\n                \"MT-SICS\",\n                \"MT-SICS configurable\"\n              ],\n              \"type\": \"string\"\n            },\n            \"output.time\": {\n              \"type\": \"boolean\"\n            },\n            \"output.unit\": {\n              \"type\": \"boolean\"\n            },\n            \"output.unit_field_length\": {\n              \"maximum\": 6,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.updates_per_s\": {\n              \"enum\": [\n                2,\n                5,\n                6,\n                10\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"output.weight_field_length\": {\n              \"maximum\": 20,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"quality.balance_recal_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.balance_recal_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.calib_block_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.calib_expired_action\": {\n              \"enum\": [\n                \"None\",\n                \"Block\"\n              ],\n              \"type\": \"string\"\n            },\n            \"quality.change_history\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.gwp_approved\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.leveling_warning\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Optional leveling\",\n                \"Forced leveling\"\n              ],\n              \"type\": \"string\"\n            },\n            \"quality.service_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.service_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"quality.weight_recal_days\": {\n              \"maximum\": 400,\n              \"minimum\": 0,\n              \"type\": \"integer\",\n              \"x-unit\": \"d\"\n            },\n            \"quality.weight_recal_reminder\": {\n              \"type\": \"boolean\"\n            },\n            \"region.date_format\": {\n              \"enum\": [\n                \"D.MMM.YYYY\",\n                \"MMM D YYYY\",\n                \"DD.MM.YYYY\",\n                \"MM/DD/YYYY\",\n                \"YYYY-MM-DD\",\n                \"YYYY/MM/DD\",\n                \"YYYY\\u5e74M\\u6708D\\u65e5\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.keyboard\": {\n              \"enum\": [\n                \"English\",\n                \"German\",\n                \"French\",\n                \"Spanish\",\n                \"Japanese\",\n                \"Simplified Chinese\",\n                \"Russian\",\n                \"Czech\",\n                \"Polish\",\n                \"Hungarian\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.language\": {\n              \"enum\": [\n                \"English\",\n                \"Deutsch\",\n                \"Fran\\u00e7ais\",\n                \"\\u65e5\\u672c\\u8a9e\",\n                \"\\u4e2d\\u6587\",\n                \"Espa\\u00f1ol\",\n                \"Italiano\",\n                \"\\u0420\\u0443\\u0441\\u0441\\u043a\\u0438\\u0439\",\n                \"Portugu\\u00eas\",\n                \"Polski\",\n                \"Magyar\",\n                \"\\u010ce\\u0161tina\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.time_format\": {\n              \"enum\": [\n                \"24:MM\",\n                \"12:MM\",\n                \"24.MM\",\n                \"12.MM\"\n              ],\n              \"type\": \"string\"\n            },\n            \"region.time_zone\": {\n              \"enum\": [\n                \"UTC\",\n                \"Europe/Zurich\",\n                \"Europe/London\",\n                \"America/New_York\",\n                \"America/Chicago\",\n                \"America/Los_Angeles\",\n                \"Asia/Shanghai\",\n                \"Asia/Tokyo\",\n                \"Asia/Kolkata\",\n                \"Australia/Sydney\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.brightness\": {\n              \"enum\": [\n                20,\n                40,\n                60,\n                80,\n                100\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"screen.sound_error\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_info\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_key\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.sound_volume\": {\n              \"enum\": [\n                \"Inactive\",\n                \"20 %\",\n                \"40 %\",\n                \"60 %\",\n                \"80 %\",\n                \"100 %\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.sound_warning\": {\n              \"type\": \"boolean\"\n            },\n            \"screen.status_light\": {\n              \"enum\": [\n                \"Active\",\n                \"Active (without green light)\",\n                \"Inactive\"\n              ],\n              \"type\": \"string\"\n            },\n            \"screen.status_light_brightness\": {\n              \"enum\": [\n                20,\n                40,\n                60,\n                80,\n                100\n              ],\n              \"type\": \"integer\",\n              \"x-unit\": \"%\"\n            },\n            \"services.file_server\": {\n              \"type\": \"boolean\"\n            },\n            \"services.fs_domain\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_import_path\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_password\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_server\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_share\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.fs_user\": {\n              \"maxLength\": 64,\n              \"minLength\": 0,\n              \"type\": \"string\"\n            },\n            \"services.labx\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Network\"\n              ],\n              \"type\": \"string\"\n            },\n            \"services.labx_port\": {\n              \"maximum\": 65535,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"services.mtsics\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Network\",\n                \"USB\"\n              ],\n              \"type\": \"string\"\n            },\n            \"services.mtsics_port\": {\n              \"maximum\": 65535,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"1\"\n            },\n            \"services.web\": {\n              \"enum\": [\n                \"Inactive\",\n                \"Active\"\n              ],\n              \"type\": \"string\"\n            },\n            \"users.automatic_logout\": {\n              \"type\": \"boolean\"\n            },\n            \"users.logout_wait\": {\n              \"maximum\": 60,\n              \"minimum\": 1,\n              \"type\": \"integer\",\n              \"x-unit\": \"min\"\n            },\n            \"users.password_reset\": {\n              \"enum\": [\n                \"Allowed\",\n                \"Not allowed\"\n              ],\n              \"type\": \"string\"\n            },\n            \"users.user_proposals\": {\n              \"type\": \"boolean\"\n            }\n          },\n          \"type\": \"object\"\n        }\n      },\n      \"device.standby\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"device.status_light\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"enum\": [\n            \"off\",\n            \"green\",\n            \"yellow\",\n            \"red\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"display.allowed_units\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"string\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"display.smarttrac\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"active\": {\n              \"type\": \"boolean\"\n            },\n            \"color\": {\n              \"enum\": [\n                \"neutral\",\n                \"ok\",\n                \"warn\",\n                \"error\"\n              ],\n              \"type\": \"string\"\n            },\n            \"fraction\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"high\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"low\": {\n              \"anyOf\": [\n                {\n                  \"maximum\": 1,\n                  \"minimum\": 0,\n                  \"type\": \"number\",\n                  \"x-unit\": \"1\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"minus_text\": {\n              \"type\": \"string\"\n            },\n            \"plus_text\": {\n              \"type\": \"string\"\n            },\n            \"target_text\": {\n              \"type\": \"string\"\n            }\n          },\n          \"required\": [\n            \"active\",\n            \"fraction\",\n            \"low\",\n            \"high\",\n            \"target_text\",\n            \"minus_text\",\n            \"plus_text\",\n            \"color\"\n          ],\n          \"type\": \"object\"\n        }\n      },\n      \"display.unit\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"string\"\n        }\n      },\n      \"display.weight\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"busy\": {\n              \"type\": \"string\"\n            },\n            \"calculated\": {\n              \"type\": \"boolean\"\n            },\n            \"indicator\": {\n              \"anyOf\": [\n                {\n                  \"additionalProperties\": false,\n                  \"properties\": {\n                    \"color\": {\n                      \"type\": \"string\"\n                    },\n                    \"text\": {\n                      \"type\": \"string\"\n                    }\n                  },\n                  \"required\": [\n                    \"color\",\n                    \"text\"\n                  ],\n                  \"type\": \"object\"\n                },\n                {\n                  \"type\": \"null\"\n                }\n              ]\n            },\n            \"info_text\": {\n              \"type\": \"string\"\n            },\n            \"net\": {\n              \"type\": \"boolean\"\n            },\n            \"stable\": {\n              \"type\": \"boolean\"\n            },\n            \"state\": {\n              \"enum\": [\n                \"value\",\n                \"overload\",\n                \"underload\",\n                \"none\",\n                \"off\"\n              ],\n         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\"door.top.opening_m\": {\n        \"unit\": \"m\",\n        \"value_schema\": {\n          \"maximum\": 0.109,\n          \"minimum\": 0,\n          \"type\": \"number\",\n          \"x-unit\": \"m\"\n        }\n      },\n      \"environment.tilt_rad\": {\n        \"unit\": \"rad\",\n        \"value_schema\": {\n          \"type\": \"number\",\n          \"x-unit\": \"rad\"\n        }\n      },\n      \"environment.vibration\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"type\": \"boolean\"\n        }\n      },\n      \"history.adjustments\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"history.changes\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"history.tests\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"items\": {\n            \"type\": \"object\"\n          },\n          \"type\": \"array\"\n        }\n      },\n      \"level.state\": {\n        \"unit\": \"1\",\n        \"value_schema\": {\n          \"additionalProperties\": false,\n          \"properties\": {\n            \"instruction\": {\n              \"type\": \"string\"\n            },\n            \"ok\": {\n              \"type\": \"boolean\"\n            },\n            \"ok_radius\": {\n              \"maximum\": 1,\n              \"minimum\": 0,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            \"tilt_deg\": {\n              \"minimum\": 0,\n              \"type\": \"number\",\n              \"x-unit\": \"deg\"\n            },\n            \"x\": {\n              \"maximum\": 1,\n              \"minimum\": -1,\n              \"type\": \"number\",\n              \"x-unit\": \"1\"\n            },\n            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7, "reasoningReportedOutputTokens": 43}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "2312e4c7", "role": "toolResult", "timestamp": "2026-10-23T06:09:23.338Z", "parts": [{"type": "text", "text": "{\"endpoint\": \"http://sim:8123\", \"session\": \"57d79078b18c1731\", \"generation\": 0}\n"}]}, {"id": "e15281d8", "role": "assistant", "timestamp": "2026-10-23T06:09:25.618Z", "parts": [{"type": "tool", "callID": "call_757f22b558b846dc805a188dfba2369c|fc_0c58bd1bdd3b672e016adafa1518f8819295f43bcd3f11a793", "name": "bash", "input": {"command": "roboenv --help && roboenv describe --help", "timeout": 20}, "output": "usage: roboenv [-h]\n               {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n               ...\n\nAgent-neutral command line for the environment contract.\n\npositional arguments:\n  {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n    doctor              Explain simulator readiness and next steps\n    launch              Start a task and wait for its devices\n    prepare             Install or reuse one isolated simulator environment\n    setup               Export a robot into the current workspace's .kinex\n                        directory\n    status              Inspect a running environment\n    stop                Finalize a selected simulation or stop a locally owned\n                        environment\n    robots              Browse available robot/device configurations\n\noptions:\n  -h, --help            show this help message and exit\nusage: roboenv describe [-h] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 25782, "outputTokens": 32, "cachedInputTokens": 25600, "cacheReportedInputTokens": 25782, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 25782, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 32}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "a2c77e73", "role": "toolResult", "timestamp": "2026-10-23T06:09:25.770Z", "parts": [{"type": "text", "text": "usage: roboenv [-h]\n               {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n               ...\n\nAgent-neutral command line for the environment contract.\n\npositional arguments:\n  {doctor,launch,prepare,setup,status,stop,describe,devices,observe,score,device,operation,replay,sources,audit-privacy,tasks,robots}\n    doctor              Explain simulator readiness and next steps\n    launch              Start a task and wait for its devices\n    prepare             Install or reuse one isolated simulator environment\n    setup               Export a robot into the current workspace's .kinex\n                        directory\n    status              Inspect a running environment\n    stop                Finalize a selected simulation or stop a locally owned\n                        environment\n    robots              Browse available robot/device configurations\n\noptions:\n  -h, --help            show this help message and exit\nusage: roboenv describe [-h] [--run RUN | --endpoint ENDPOINT]\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n"}]}, {"id": "37ba9d6e", "role": "assistant", "timestamp": "2026-10-23T06:09:28.030Z", "parts": [{"type": "tool", "callID": "call_0d3512d804b94bc39482872e6d051999|fc_0c58bd1bdd3b672e016adafa1780588192ace146441029688d", "name": "bash", "input": {"command": "roboenv device --help && roboenv operation --help", "timeout": 20}, "output": "usage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\nusage: roboenv operation [-h] [--run RUN | --endpoint ENDPOINT] request_id\n\npositional arguments:\n  request_id\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 26084, "outputTokens": 33, "cachedInputTokens": 25600, "cacheReportedInputTokens": 26084, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 26084, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 33}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "5e6049e5", "role": "toolResult", "timestamp": "2026-10-23T06:09:28.180Z", "parts": [{"type": "text", "text": "usage: roboenv device [-h] [--request-id REQUEST_ID] [--timeout TIMEOUT]\n                      [--run RUN | --endpoint ENDPOINT]\n                      name [action] [args]\n\npositional arguments:\n  name\n  action\n  args\n\noptions:\n  -h, --help            show this help message and exit\n  --request-id REQUEST_ID\n  --timeout TIMEOUT\n  --run RUN             Local run ID or run.json\n  --endpoint ENDPOINT   HTTP service URL: http://HOST:PORT\nusage: roboenv operation [-h] [--run RUN | --endpoint ENDPOINT] request_id\n\npositional arguments:\n  request_id\n\noptions:\n  -h, --help           show this help message and exit\n  --run RUN            Local run ID or run.json\n  --endpoint ENDPOINT  HTTP service URL: http://HOST:PORT\n"}]}, {"id": "d473af32", "role": "assistant", "timestamp": "2026-10-23T06:09:30.728Z", "parts": [{"type": "tool", "callID": "call_f3e38ba7f9134f368338efbd4dc4850f|fc_0c58bd1bdd3b672e016adafa1a6b4481929c77c4ad04873109", "name": "bash", "input": {"command": "roboenv devices --endpoint \"$ROBOENV_ENDPOINT\"", "timeout": 20}, "output": "mum\": 0, \"type\": \"number\", \"x-unit\": \"g\"}, {\"type\": \"null\"}]}, \"pcs.reference_pcs\": {\"maximum\": 10000, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, \"print.label_cutting\": {\"enum\": [\"Off\", \"Per label\", \"Per task\"], \"type\": \"string\"}, \"print.results_export\": {\"type\": \"boolean\"}, \"print.strip_printer\": {\"type\": \"boolean\"}, \"print.tpl_balance\": {\"items\": {\"enum\": [\"Balance type\", \"Balance ID\", \"Balance serial number\", \"Software version\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_header\": {\"items\": {\"enum\": [\"Title\", \"Title text\", \"Date/time\", \"User name\", \"Signature\", \"Separating lines\", \"Group titles\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_item\": {\"items\": {\"enum\": [\"Show excluded weighing items\", \"Result state\", \"Result IDs\", \"GWP Approved state\", \"Level state\", \"MinWeigh state\", \"Tolerance state\", \"Target and tolerances\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_quality\": {\"items\": {\"enum\": [\"Tolerance profile\", \"Adjustment date/time\", \"Routine test name\", \"Routine test last execution date\", \"Routine test result\", \"GWP Approved state\", \"Level state\", \"MinWeigh state\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_result\": {\"items\": {\"enum\": [\"Weight\", \"Tare weight\", \"Gross weight\", \"Info weight\", \"Date/time\", \"Stability\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.tpl_task\": {\"items\": {\"enum\": [\"Method name\", \"Method comment\", \"Task IDs\", \"Custom unit settings\", \"Automatic result settings\", \"Count\", \"Sum\", \"Average\", \"Minimum\", \"Maximum\", \"Range\", \"Standard deviation\", \"Relative standard deviation\"], \"type\": \"string\"}, \"type\": \"array\", \"uniqueItems\": true}, \"print.weight_value\": {\"type\": \"boolean\"}, \"weighing.capture_delay\": {\"maximum\": 60, \"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"s\"}, \"weighing.capture_mode\": {\"enum\": [\"Stable\", \"Immediate\"], \"type\": \"string\"}, \"weighing.info_unit\": {\"enum\": [\"g\", \"mg\", \"\\u00b5g\", \"kg\", \"ct\", \"N\", \"lb\", \"oz\", \"ozt\", \"GN\", \"dwt\", \"mom\", \"msg\", \"tlh\", \"tls\", \"tlt\", \"tola\", \"baht\"], \"type\": \"string\"}, \"weighing.ionizer\": {\"type\": \"boolean\"}, \"weighing.profile\": {\"anyOf\": [{\"minLength\": 1, \"type\": \"string\"}, {\"type\": \"null\"}]}, \"weighing.show_info\": {\"type\": \"boolean\"}, \"weighing.smarttrac\": {\"type\": \"boolean\"}, \"weighing.statistics\": {\"type\": \"boolean\"}}, \"type\": \"object\"}, \"type\": {\"enum\": [\"General weighing\", \"General weighing (itemized)\", \"Density determination\", \"Piece Counting\"], \"type\": \"string\"}}, \"required\": [\"type\", \"settings\"], \"title\": \"method.create\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"method_delete\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"method_id\": {\"maxLength\": 64, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"method_id\"], \"title\": \"method.delete\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"method_item_delete\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"index\": {\"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, \"method_id\": {\"maxLength\": 64, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"method_id\", \"index\"], \"title\": \"method.item_delete\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"method_item_save\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"index\": {\"anyOf\": [{\"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"item\": {\"additionalProperties\": false, \"properties\": {\"sample_id\": {\"maxLength\": 32, \"type\": \"string\"}, \"target\": {\"anyOf\": [{\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"tol_minus\": {\"anyOf\": [{\"maximum\": 100, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"%\"}, {\"type\": \"null\"}]}, \"tol_plus\": {\"anyOf\": [{\"maximum\": 100, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"%\"}, {\"type\": \"null\"}]}, \"unit\": {\"enum\": [\"g\", \"mg\", \"\\u00b5g\", \"kg\", \"ct\", \"N\", \"lb\", \"oz\", \"ozt\", \"GN\", \"dwt\", \"mom\", \"msg\", \"tlh\", \"tls\", \"tlt\", \"tola\", \"baht\"], \"type\": \"string\"}}, \"required\": [], \"type\": \"object\"}, \"method_id\": {\"maxLength\": 64, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"method_id\", \"index\", \"item\"], \"title\": \"method.item_save\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"method_save_itemized\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"name\": {\"maxLength\": 22, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"name\"], \"title\": \"method.save_itemized\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"method_start\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"method_id\": {\"maxLength\": 64, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"method_id\"], \"title\": \"method.start\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_capture\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"terminal\", \"status_light\"], \"type\": \"string\"}}, \"required\": [\"display_id\"], \"title\": \"panel.capture\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_press\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"input_id\": {\"enum\": [\"key_door_left\", \"key_standby\", \"key_tare\", \"key_zero\", \"key_home\", \"key_door_right\"], \"type\": \"string\"}}, \"required\": [\"input_id\"], \"title\": \"panel.press\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"panel_touch\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"display_id\": {\"enum\": [\"terminal\"], \"type\": \"string\"}, \"duration_s\": {\"maximum\": 60.0, \"minimum\": 0.02, \"type\": \"number\", \"x-unit\": \"s\"}, \"to_x\": {\"maximum\": 799, \"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"1\"}, \"to_y\": {\"maximum\": 479, \"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"1\"}, \"x\": {\"maximum\": 799, \"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"1\"}, \"y\": {\"maximum\": 479, \"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"1\"}}, \"required\": [\"display_id\", \"x\", \"y\"], \"title\": \"panel.touch\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"pcs_set_reference\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"pieces\": {\"maximum\": 10000, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}}, \"required\": [\"pieces\"], \"title\": \"pcs.set_reference\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"power_set\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"enabled\": {\"type\": \"boolean\"}}, \"required\": [\"enabled\"], \"title\": \"power.set\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"procedure_cancel\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"procedure.cancel\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"procedure_complete\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"procedure.complete\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"procedure_confirm\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"title\": \"procedure.confirm\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, \"procedure_select_weight\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"weight_id\": {\"maxLength\": 64, \"minLength\": 1, \"type\": \"string\"}}, \"required\": [\"weight_id\"], \"title\": \"procedure.select_weight\", \"type\": \"object\"}, \"read_only\": false, \"supported\": true}, 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\"Portugu\\u00eas\", \"Polski\", \"Magyar\", \"\\u010ce\\u0161tina\"], \"type\": \"string\"}, \"region.time_format\": {\"enum\": [\"24:MM\", \"12:MM\", \"24.MM\", \"12.MM\"], \"type\": \"string\"}, \"region.time_zone\": {\"enum\": [\"UTC\", \"Europe/Zurich\", \"Europe/London\", \"America/New_York\", \"America/Chicago\", \"America/Los_Angeles\", \"Asia/Shanghai\", \"Asia/Tokyo\", \"Asia/Kolkata\", \"Australia/Sydney\"], \"type\": \"string\"}, \"screen.brightness\": {\"enum\": [20, 40, 60, 80, 100], \"type\": \"integer\", \"x-unit\": \"%\"}, \"screen.sound_error\": {\"type\": \"boolean\"}, \"screen.sound_info\": {\"type\": \"boolean\"}, \"screen.sound_key\": {\"type\": \"boolean\"}, \"screen.sound_volume\": {\"enum\": [\"Inactive\", \"20 %\", \"40 %\", \"60 %\", \"80 %\", \"100 %\"], \"type\": \"string\"}, \"screen.sound_warning\": {\"type\": \"boolean\"}, \"screen.status_light\": {\"enum\": [\"Active\", \"Active (without green light)\", \"Inactive\"], \"type\": \"string\"}, \"screen.status_light_brightness\": {\"enum\": [20, 40, 60, 80, 100], \"type\": \"integer\", \"x-unit\": \"%\"}, \"services.file_server\": {\"type\": \"boolean\"}, \"services.fs_domain\": {\"maxLength\": 64, \"minLength\": 0, \"type\": \"string\"}, \"services.fs_import_path\": {\"maxLength\": 64, \"minLength\": 0, \"type\": \"string\"}, \"services.fs_password\": {\"maxLength\": 64, \"minLength\": 0, \"type\": \"string\"}, \"services.fs_server\": {\"maxLength\": 64, \"minLength\": 0, \"type\": \"string\"}, \"services.fs_share\": {\"maxLength\": 64, \"minLength\": 0, \"type\": \"string\"}, \"services.fs_user\": {\"maxLength\": 64, \"minLength\": 0, \"type\": \"string\"}, \"services.labx\": {\"enum\": [\"Inactive\", \"Network\"], \"type\": \"string\"}, \"services.labx_port\": {\"maximum\": 65535, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, \"services.mtsics\": {\"enum\": [\"Inactive\", \"Network\", \"USB\"], \"type\": \"string\"}, \"services.mtsics_port\": {\"maximum\": 65535, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"1\"}, \"services.web\": {\"enum\": [\"Inactive\", \"Active\"], \"type\": \"string\"}, \"users.automatic_logout\": {\"type\": \"boolean\"}, \"users.logout_wait\": {\"maximum\": 60, \"minimum\": 1, \"type\": \"integer\", \"x-unit\": \"min\"}, \"users.password_reset\": {\"enum\": [\"Allowed\", \"Not allowed\"], \"type\": \"string\"}, \"users.user_proposals\": {\"type\": \"boolean\"}}, \"type\": \"object\"}}, \"device.standby\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"device.status_light\": {\"unit\": \"1\", \"value_schema\": {\"enum\": [\"off\", \"green\", \"yellow\", \"red\"], \"type\": \"string\"}}, \"display.allowed_units\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"string\"}, \"type\": \"array\"}}, \"display.smarttrac\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"active\": {\"type\": \"boolean\"}, \"color\": {\"enum\": [\"neutral\", \"ok\", \"warn\", \"error\"], \"type\": \"string\"}, \"fraction\": {\"anyOf\": [{\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"high\": {\"anyOf\": [{\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"low\": {\"anyOf\": [{\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, {\"type\": \"null\"}]}, \"minus_text\": {\"type\": \"string\"}, \"plus_text\": {\"type\": \"string\"}, \"target_text\": {\"type\": \"string\"}}, \"required\": [\"active\", \"fraction\", \"low\", \"high\", \"target_text\", \"minus_text\", \"plus_text\", \"color\"], \"type\": \"object\"}}, \"display.unit\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"string\"}}, \"display.weight\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"busy\": {\"type\": \"string\"}, \"calculated\": {\"type\": \"boolean\"}, \"indicator\": {\"anyOf\": [{\"additionalProperties\": false, \"properties\": {\"color\": {\"type\": \"string\"}, \"text\": {\"type\": \"string\"}}, \"required\": [\"color\", \"text\"], \"type\": \"object\"}, {\"type\": \"null\"}]}, \"info_text\": {\"type\": \"string\"}, \"net\": {\"type\": \"boolean\"}, \"stable\": {\"type\": \"boolean\"}, \"state\": {\"enum\": [\"value\", \"overload\", \"underload\", \"none\", \"off\"], \"type\": \"string\"}, \"text\": {\"type\": \"string\"}, \"unit\": {\"type\": \"string\"}}, \"required\": [\"text\", \"unit\", \"info_text\", \"net\", \"stable\", \"calculated\", \"state\", \"busy\", \"indicator\"], \"type\": \"object\"}}, \"door.left.opening_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.109, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"door.right.opening_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.109, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"door.top.opening_m\": {\"unit\": \"m\", \"value_schema\": {\"maximum\": 0.109, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"m\"}}, \"environment.tilt_rad\": {\"unit\": \"rad\", \"value_schema\": {\"type\": \"number\", \"x-unit\": \"rad\"}}, \"environment.vibration\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"history.adjustments\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"history.changes\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"history.tests\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"level.state\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"instruction\": {\"type\": \"string\"}, \"ok\": {\"type\": \"boolean\"}, \"ok_radius\": {\"maximum\": 1, \"minimum\": 0, \"type\": \"number\", \"x-unit\": \"1\"}, \"tilt_deg\": {\"minimum\": 0, \"type\": \"number\", \"x-unit\": \"deg\"}, \"x\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}, \"y\": {\"maximum\": 1, \"minimum\": -1, \"type\": \"number\", \"x-unit\": \"1\"}}, \"required\": [\"ok\", \"tilt_deg\", \"x\", \"y\", \"ok_radius\", \"instruction\"], \"type\": \"object\"}}, \"methods.active\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}}, \"methods.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"pan.installed\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"power.enabled\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"boolean\"}}, \"procedure.state\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}, \"profiles.default\": {\"unit\": \"1\", \"value_schema\": {\"type\": \"string\"}}, \"profiles.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"task.current\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}, \"task.paused\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"task.statistics\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"type\": \"object\"}, {\"type\": \"null\"}]}}, \"test_weights.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"tests.list\": {\"unit\": \"1\", \"value_schema\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"users.state\": {\"unit\": \"1\", \"value_schema\": {\"additionalProperties\": false, \"properties\": {\"block_id\": {\"minimum\": 0, \"type\": \"integer\", \"x-unit\": \"1\"}, \"block_reason\": {\"anyOf\": [{\"type\": \"string\"}, {\"type\": \"null\"}]}, \"current_user\": {\"type\": \"string\"}, \"groups\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}, \"logged_in\": {\"type\": \"boolean\"}, \"management\": {\"type\": \"boolean\"}, \"rights\": {\"additionalProperties\": false, \"properties\": {\"block_unblock\": {\"type\": \"boolean\"}, \"cancel_task\": {\"type\": \"boolean\"}, \"configure_methods\": {\"type\": \"boolean\"}, \"configure_system\": {\"type\": \"boolean\"}, \"configure_tests\": {\"type\": \"boolean\"}, \"configure_users\": {\"type\": \"boolean\"}, \"exclude_overwrite\": {\"type\": \"boolean\"}, \"execute_service\": {\"type\": \"boolean\"}, \"show_change_history\": {\"type\": \"boolean\"}, \"start_external_adjustment\": {\"type\": \"boolean\"}, \"start_tests\": {\"type\": \"boolean\"}}, \"required\": [\"block_unblock\", \"configure_methods\", \"exclude_overwrite\", \"cancel_task\", \"configure_system\", \"configure_users\", \"execute_service\", \"start_external_adjustment\", \"show_change_history\", \"configure_tests\", \"start_tests\"], \"type\": \"object\"}, \"unblocking_password_set\": {\"type\": \"boolean\"}, \"users\": {\"items\": {\"type\": \"object\"}, \"type\": \"array\"}}, \"required\": [\"management\", \"current_user\", \"logged_in\", \"rights\", \"users\", \"groups\", \"unblocking_password_set\", \"block_reason\", \"block_id\"], \"type\": \"object\"}}, \"weighing.pending\": {\"unit\": \"1\", \"value_schema\": {\"anyOf\": [{\"enum\": [\"zero\", \"tare\", \"capture\"], \"type\": \"string\"}, {\"type\": \"null\"}]}}}}, \"source\": \"user\"}, \"name\": \"instrument\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"other\", \"validation\": \"implementation-present; not hardware-probed\"}, {\"actions\": {\"load\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"read\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"status\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"unload\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {}, \"required\": [], \"type\": \"object\"}, \"read_only\": true, \"supported\": true}, \"wait\": {\"input_schema\": {\"additionalProperties\": false, \"properties\": {\"duration_s\": {\"minimum\": 0, \"type\": \"number\"}}, \"required\": [\"duration_s\"], \"type\": \"object\"}, \"read_only\": false, \"supported\": true}}, \"binding\": {\"binding\": \"isaaclab.chemlab/1\", \"entity\": \"world\", \"profile\": \"devices/world/profile.yaml\"}, \"execution\": {\"interruptible\": false, \"mode\": \"synchronous\"}, \"extrinsics\": {}, \"implementation\": \"World reference\", \"intrinsics\": {\"bounds\": null, \"calibrated_at\": null, \"method\": \"manual\", \"source\": \"user\", \"surfaces\": []}, \"name\": \"world\", \"schema_version\": \"roboenv/devices/1\", \"type\": \"world\", \"validation\": \"implementation-present; not hardware-probed\"}], \"schema_version\": \"roboenv/devices/1\"}\n\n[Showing last 50.0KB of line 1 (line is 0B). Full output: /tmp/pi-bash-7711a00d467912e7.log]"}]}, {"id": "0bdd8e02", "role": "assistant", "timestamp": "2026-10-23T06:09:34.244Z", "parts": [{"type": "tool", "callID": "call_ad4eabaa459241f698d90ccc626fbb57|fc_0c58bd1bdd3b672e016adafa1d73a08192ad350df517d7aab6", "name": "device", "input": {"deviceID": "instrument", "action": "power_set", "args": {"enabled": true}}, "output": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 24.800000000000082\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-502\",\n  \"result\": {\n    \"enabled\": true\n  },\n  \"state_revision\": 250,\n  \"status\": \"succeeded\"\n}", "isError": false, "metadata": {}}], "usage": {"inputTokens": 42740, "outputTokens": 29, "cachedInputTokens": 26112, "cacheReportedInputTokens": 42740, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 42740, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 29}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "2af33de7", "role": "toolResult", "timestamp": "2026-10-23T06:09:34.465Z", "parts": [{"type": "text", "text": "{\n  \"clock\": {\n    \"domain\": \"simulation\",\n    \"time_s\": 24.800000000000082\n  },\n  \"error\": null,\n  \"instance_id\": \"instrument\",\n  \"observations\": {},\n  \"operation_id\": null,\n  \"protocol_version\": \"1.0.0\",\n  \"request_id\": \"roboenv-502\",\n  \"result\": {\n    \"enabled\": true\n  },\n  \"state_revision\": 250,\n  \"status\": \"succeeded\"\n}"}]}, {"id": "fcb897a1", "role": "assistant", "timestamp": "2026-10-23T06:09:38.577Z", "parts": [{"type": "tool", "callID": "call_25c7af2a60034ece8314eee9755b43d6|fc_0c58bd1bdd3b672e016adafa1fdc4c81929df65a4e80217ee1", "name": "exec", "input": {"description": "verify balance stability", "python": "from kinex import device\nkeys = ['power.enabled','balance.status','balance.stable','balance.stability_elapsed_s','balance.net_kg','balance.task_ready']\na = device('instrument')['observations']\nprint({k:a[k] for k in keys})\nprint(device('world','wait',{'duration_s':1.1}))\nb = device('instrument')['observations']\nprint({k:b[k] for k in keys})\nassert a['balance.stable']['value'] is True and b['balance.stable']['value'] is True\nassert b['balance.stability_elapsed_s']['value'] >= 1\nassert b['balance.stable']['sample_time_s'] - a['balance.stable']['sample_time_s'] >= 1"}, "output": "{\n  \"exit_code\": 1,\n  \"output\": \"{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\n{'time_s': 28.90000000000014, 'waited_s': 1.1000000000000156}\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\nTraceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/_exec.py\\\", line 27, in <module>\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 8, in <module>\\nAssertionError\\n\",\n  \"error\": \"script exited with code 1\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\n{'time_s': 28.90000000000014, 'waited_s': 1.1000000000000156}\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\nTraceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/_exec.py\\\", line 27, in <module>\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 8, in <module>\\nAssertionError\"\n}", "isError": true, "metadata": {}}], "usage": {"inputTokens": 42889, "outputTokens": 184, "cachedInputTokens": 42624, "cacheReportedInputTokens": 42889, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 42889, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 184}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "73b1f08c", "role": "toolResult", "timestamp": "2026-10-23T06:09:40.721Z", "parts": [{"type": "text", "text": "{\n  \"exit_code\": 1,\n  \"output\": \"{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\n{'time_s': 28.90000000000014, 'waited_s': 1.1000000000000156}\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\nTraceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/_exec.py\\\", line 27, in <module>\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 8, in <module>\\nAssertionError\\n\",\n  \"error\": \"script exited with code 1\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 27.700000000000124, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\n{'time_s': 28.90000000000014, 'waited_s': 1.1000000000000156}\\n{'power.enabled': {'quality': 'valid', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': False, 'unit': '1', 'value': True}, 'balance.status': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': 'UNSTABLE'}, 'balance.stable': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}, 'balance.stability_elapsed_s': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 's', 'value': 1.5}, 'balance.net_kg': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': 'kg', 'value': 0}, 'balance.task_ready': {'quality': 'estimated', 'reason': None, 'sample_time_s': 29.000000000000142, 'sample_window_s': None, 'synthetic': True, 'unit': '1', 'value': False}}\\nTraceback (most recent call last):\\n  File \\\"<frozen runpy>\\\", line 198, in _run_module_as_main\\n  File \\\"<frozen runpy>\\\", line 88, in _run_code\\n  File \\\"/opt/kinex/packages/core/assets/python/kinex/_exec.py\\\", line 27, in <module>\\n    exec(compile(_request[\\\"source\\\"], \\\"<kinex-exec>\\\", \\\"exec\\\"), module.__dict__)\\n  File \\\"<kinex-exec>\\\", line 8, in <module>\\nAssertionError\"\n}"}]}, {"id": "ccc3a1fb", "role": "assistant", "timestamp": "2026-10-23T06:09:45.519Z", "parts": [{"type": "reasoning", "text": "**Assessing stability calibration need**"}, {"type": "tool", "callID": "call_0bb0eb9ee5dd4fe0b7b308dbfa76a025|fc_0c58bd1bdd3b672e016adafa294a308192b757501105663ca1", "name": "bash", "input": {"command": "roboenv devices --endpoint \"$ROBOENV_ENDPOINT\" | python -c 'import sys,json; d=json.load(sys.stdin); a=d[\"devices\"][0][\"actions\"]; print(json.dumps({k:v for k,v in a.items() if k in [\"balance_reading\",\"balance_set_filter\",\"balance_calibrate_span\",\"balance_request\"]},indent=2))'", "timeout": 20}, "output": "{\n  \"balance_calibrate_span\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"known_mass_kg\": {\n          \"maximum\": 0.22,\n          \"minimum\": 1e-12,\n          \"type\": \"number\",\n          \"x-unit\": \"kg\"\n        }\n      },\n      \"required\": [\n        \"known_mass_kg\"\n      ],\n      \"title\": \"balance.calibrate_span\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_reading\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {},\n      \"required\": [],\n      \"title\": \"balance.reading\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_request\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"action\": {\n          \"enum\": [\n            \"zero\",\n            \"tare\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"required\": [\n        \"action\"\n      ],\n      \"title\": \"balance.request\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_set_filter\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"level\": {\n          \"enum\": [\n            \"Low\",\n            \"Medium\",\n            \"High\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"required\": [\n        \"level\"\n      ],\n      \"title\": \"balance.set_filter\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  }\n}\n", "isError": false, "metadata": {}}], "usage": {"inputTokens": 44759, "outputTokens": 113, "cachedInputTokens": 42752, "cacheReportedInputTokens": 44759, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 44759, "reasoningOutputTokens": 10, "reasoningReportedOutputTokens": 113}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "287f9f3d", "role": "toolResult", "timestamp": "2026-10-23T06:09:45.723Z", "parts": [{"type": "text", "text": "{\n  \"balance_calibrate_span\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"known_mass_kg\": {\n          \"maximum\": 0.22,\n          \"minimum\": 1e-12,\n          \"type\": \"number\",\n          \"x-unit\": \"kg\"\n        }\n      },\n      \"required\": [\n        \"known_mass_kg\"\n      ],\n      \"title\": \"balance.calibrate_span\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_reading\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {},\n      \"required\": [],\n      \"title\": \"balance.reading\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_request\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"action\": {\n          \"enum\": [\n            \"zero\",\n            \"tare\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"required\": [\n        \"action\"\n      ],\n      \"title\": \"balance.request\",\n      \"type\": \"object\"\n    },\n    \"read_only\": false,\n    \"supported\": true\n  },\n  \"balance_set_filter\": {\n    \"input_schema\": {\n      \"additionalProperties\": false,\n      \"properties\": {\n        \"level\": {\n          \"enum\": [\n            \"Low\",\n            \"Medium\",\n            \"High\"\n          ],\n          \"type\": \"string\"\n        }\n      },\n      \"required\": [\n        \"level\"\n      ],\n      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"gpt-6-astra", "stopReason": "toolUse"}, {"id": "664a9c61", "role": "toolResult", "timestamp": "2026-10-23T06:09:53.617Z", "parts": [{"type": "text", "text": "{\"device_service\": {\"contract\": \"roboenv/devices/1\", \"ready\": true}, \"endpoint\": \"http://127.0.0.1:8123\", \"generation\": 0, \"protocol\": \"roboenv/1\", \"session\": \"57d79078b18c1731\", \"supervisor\": \"ok\", \"worker\": {\"alive\": true, \"state\": \"ready\"}, \"simulation\": {\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 307}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"schema\": \"roboenv/simulation-status/1\", \"session\": \"57d79078b18c1731\", \"simulation_time_s\": null, \"state\": \"terminal\", \"terminal\": true}}\n{\"budget\": {\"max\": null, \"unit\": \"action_frames\", \"used\": 307}, \"capabilities\": {\"bounded_episodes\": true, \"terminal_feedback\": true}, \"generation\": 0, \"reason\": \"success\", \"schema\": \"roboenv/simulation-status/1\", \"service_state\": \"stopped\", \"session\": \"57d79078b18c1731\", \"simulation_time_s\": null, \"state\": \"terminal\", \"success\": true, \"terminal\": true}\n"}]}, {"id": "5f081823", "role": "assistant", "timestamp": "2026-10-23T06:10:07.325Z", "parts": [{"type": "tool", "callID": "call_820abcb043024af9a687532929937f6b|fc_0c58bd1bdd3b672e016adafa33f7d881928c7b04d94e524796", "name": "write", "input": {"path": ".kinex/memos/chemlab-balance.md", "content": "# ChemLab analytical balance power\n\n- Inspect `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"`, device profiles, and initial instrument read. Public action schemas are in `roboenv devices` (large JSON; filter `devices[].actions` to relevant actions).\n- Power command: Kinex `device('instrument', 'power_set', {'enabled': True})`. No robot motion or calibration is required for the power-only task with an installed pan and closed doors.\n- Read feedback under `observations`: each dotted slot has `value`, `quality`, `sample_time_s`. Relevant slots: power.enabled, balance.status, balance.stable, balance.stability_elapsed_s, balance.net_kg, balance.task_ready.\n- Wait with world.wait in simulation seconds. Do not assume command acceptance proves stability. Prefer bounded polling until stable, then hold at least one further simulation second and reread, unless episode terminates first.\n- Observed power-only episode: readings briefly remained UNSTABLE with stability_elapsed_s=1.5 and net_kg=0, then episode auto-terminated successfully. Do not infer failure from those transient observations or unnecessarily change filters/calibration.\n- If a device reports episode_finished, inspect `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json`, then always retrieve final judgment using `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json`. Status alone does not report success. Final stop confirmed success in the observed power-only episode.\n"}, "output": "Successfully wrote to .kinex/memos/chemlab-balance.md", "isError": false, "metadata": {}}], "usage": {"inputTokens": 45687, "outputTokens": 342, "cachedInputTokens": 45184, "cacheReportedInputTokens": 45687, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 45687, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 342}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "toolUse"}, {"id": "5be297df", "role": "toolResult", "timestamp": "2026-10-23T06:10:07.330Z", "parts": [{"type": "text", "text": "Successfully wrote to .kinex/memos/chemlab-balance.md"}]}, {"id": "4880bf05", "role": "assistant", "timestamp": "2026-10-23T06:10:10.404Z", "parts": [{"type": "text", "text": "Completed successfully: the balance was powered on and the one-second stable-reading requirement was met. Final simulation judgment: **success**."}], "usage": {"inputTokens": 46054, "outputTokens": 30, "cachedInputTokens": 45568, "cacheReportedInputTokens": 46054, "cacheWriteInputTokens": 0, "cacheWriteReportedInputTokens": 46054, "reasoningOutputTokens": 0, "reasoningReportedOutputTokens": 30}, "provider": "openai-codex", "model": "gpt-6-astra", "stopReason": "stop"}]}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trajectory.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trajectory.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c50915578e50f0bb5774dbe6638bdf09a603962
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trajectory.json
@@ -0,0 +1,288 @@
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/usage-audit.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/usage-audit.json
new file mode 100644
index 0000000000000000000000000000000000000000..09bd3c2d6d66c4965ea08e61a8da60632966796d
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/usage-audit.json
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/analysis.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/analysis.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac53afb7749d205db1948ea5f020e9bff6442d83
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/analysis.json
@@ -0,0 +1,258 @@
+{
+  "slug": "04-balance-power",
+  "task": "isaaclab/chemlab-balance-power",
+  "title": "Stable balance reading",
+  "instruction": "Power on the analytical balance and obtain a stable reading for one simulation second.",
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+    "recommendation": "retain as easier reference",
+    "confidence": "single seed only",
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+    "scene_goal_alignment": "The original instruction states the target and dwell requirement. Initial conditions are unsatisfied; terminal native state meets all predicates. The overview and instrument screen are recorded together.",
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+    "summary_zh": "模型使用公开仪器命令开启电源，环境随后确认称量读数稳定并满足保持条件。此任务主要验证接口发现、设备通电和状态核验，难度较低；不包含放置样品或称量操作。适合作为最基础的管线参考任务。"
+  },
+  "media": {
+    "video": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/media/combined.mp4",
+    "poster": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/media/first.jpg",
+    "extra_views": []
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+    "terminal": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/terminal.json",
+    "session": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/session.jsonl",
+    "trace": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/trace.json",
+    "usage": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/usage-audit.json",
+    "summary": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/summary.json",
+    "definition": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/task.yaml",
+    "instruction": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/agent/instruction.txt",
+    "journal": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/journal/actions.jsonl",
+    "media": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/media/verification.json",
+    "replay": "model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/replay.json"
+  },
+  "first_command_time_s": 24.800000000000082
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index 0000000000000000000000000000000000000000..66c3a2cc052ea5f1e491836e2b807a7868e84584
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"door_left.opening": 100, "door_right.automatic": false, "door_right.devices": false, "door_right.drive_mode": "Motorized", "door_right.key_left": false, "door_right.key_right": true, "door_right.opening": 100, "dosing.label_copies": 1, "dosing.label_template": "5 large fields", "dosing.pressure_hold": 10, "ethernet.dns1": "0.0.0.0", "ethernet.dns2": "0.0.0.0", "ethernet.gateway": "0.0.0.0", "ethernet.host_name": "XPR204E", "ethernet.ip": "192.168.0.10", "ethernet.network": "DHCP", "ethernet.subnet": "255.255.255.0", "general.balance_id": "", "general.export_directory": "USB storage device", "general.standby": true, "general.standby_wait": 10, "general.update_on_startup": true, "output.date": false, "output.decimal_delimiter": ".", "output.end_of_line": "Enter", "output.field_delimiter": "Space", "output.format": "MT-SICS", "output.mode": "Results", "output.net_indicator": false, "output.net_indicator_length": 2, "output.result_id_1": false, "output.result_id_2": false, "output.sign": "For negative values", "output.sign_position": "Left of weight digits", "output.target": "HID", "output.time": false, "output.unit": true, "output.unit_field_length": 1, "output.updates_per_s": 6, "output.weight_field_length": 1, "quality.balance_recal_days": 30, "quality.balance_recal_reminder": true, "quality.calib_block_days": 30, "quality.calib_expired_action": "None", "quality.change_history": false, "quality.gwp_approved": false, "quality.leveling_warning": "Optional leveling", "quality.service_days": 30, "quality.service_reminder": false, "quality.weight_recal_days": 30, "quality.weight_recal_reminder": false, "region.date_format": "D.MMM.YYYY", "region.keyboard": "English", "region.language": "English", "region.time_format": "24:MM", "region.time_zone": "UTC", "screen.brightness": 80, "screen.sound_error": true, "screen.sound_info": true, "screen.sound_key": true, "screen.sound_volume": "60 %", "screen.sound_warning": true, "screen.status_light": "Active", "screen.status_light_brightness": 60, "services.file_server": false, "services.fs_domain": "", "services.fs_import_path": "Import", "services.fs_password": "", "services.fs_server": "", "services.fs_share": "", "services.fs_user": "", "services.labx": "Inactive", "services.labx_port": 8001, "services.mtsics": "Inactive", "services.mtsics_port": 8001, "services.web": "Inactive", "users.automatic_logout": true, "users.logout_wait": 10, "users.password_reset": "Allowed", "users.user_proposals": true}}, "device.standby": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": false}, "device.status_light": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": "green"}, "display.allowed_units": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": ["g", "mg", "µg", "kg", "ct", "N", "lb", "oz", "ozt", "GN", "dwt", "mom", "msg", "tlh", "tls", "tlt", "tola", "baht"]}, "display.smarttrac": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": {"active": false, "color": "neutral", "fraction": null, "high": null, "low": null, "minus_text": "", "plus_text": "", "target_text": ""}}, "display.unit": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": "g"}, "display.weight": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": {"busy": "", "calculated": false, "indicator": null, "info_text": "", "net": false, "stable": true, "state": "value", "text": "0.0000", "unit": "g"}}, "door.left.opening_m": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "m", "value": 0.0}, "door.right.opening_m": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "m", "value": 0.0}, "door.top.opening_m": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "m", "value": 0.0}, "environment.tilt_rad": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "rad", "value": 0.0}, "environment.vibration": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": false}, "history.adjustments": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": []}, "history.changes": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": []}, "history.tests": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": []}, "interface.output": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": []}, "level.state": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": {"instruction": "The balance is leveled.", "ok": true, "ok_radius": 0.3333, "tilt_deg": 0.0, "x": 0.0, "y": -0.0}}, "methods.active": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": "m1"}, "methods.list": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": [{"active": true, "comment": "", "created": "2026-01-01", "id": "m1", "items": [], "lock": false, "name": "General Weighing", "paused": false, "settings": {"auto.barcode_target": "Keyboard Input", "auto.feeder": false, "auto.feeder_discharge": false, "auto.feeder_items": 20, "auto.feeder_plausibility": 30, "auto.feeder_rate": "Normal", "auto.preset_tare": null, "auto.result": "With sample tare", "auto.result_threshold": null, "auto.tare_after_result": false, "auto.tare_mode": "None", "auto.tare_threshold": null, "auto.weight_trigger": "Exceeding", "auto.zero": false, "auto.zero_threshold": null, "comment": "", "custom.active": false, "custom.factor": 1.0, "custom.formula": "Multiplicative", "custom.name": "cu1", "custom.readability": 0.0001, "ids.result_1_default": "", "ids.result_1_description": "Sample ID", "ids.result_1_prefix": "", "ids.result_1_type": "Manual with default", "ids.result_2_default": "", "ids.result_2_description": "Result ID 2", "ids.result_2_prefix": "", "ids.result_2_type": "Manual with default", "ids.result_3_default": "", "ids.result_3_description": "Result ID 3", "ids.result_3_prefix": "", "ids.result_3_type": "Manual with default", "ids.result_count": 1, "ids.task_1_default": "", "ids.task_1_description": "Task ID", "ids.task_1_prefix": "", "ids.task_1_type": "Manual with default", "ids.task_2_default": "", "ids.task_2_description": "Task ID 2", "ids.task_2_prefix": "", "ids.task_2_type": "Manual with default", "ids.task_3_default": "", "ids.task_3_description": "Task ID 3", "ids.task_3_prefix": "", "ids.task_3_type": "Manual with default", "ids.task_count": 1, "item.target": null, "item.tol_minus": 2.5, "item.tol_plus": 2.5, "item.unit": "g", "label_item.auto": false, "label_item.copies": 1, "label_item.template": "5 large fields", "label_task.auto": false, "label_task.copies": 1, "label_task.template": "5 large fields", "lock": false, "name": "General Weighing", "print.label_cutting": "Off", "print.results_export": false, "print.strip_printer": false, "print.tpl_balance": ["Balance type", "Balance ID", "Balance serial number", "Software version"], "print.tpl_header": ["Title", "Title text", "Date/time", "User name", "Signature", "Separating lines", "Group titles"], "print.tpl_item": ["Show excluded weighing items", "Result state", "Result IDs", "GWP Approved state", "Level state", "MinWeigh state", "Tolerance state", "Target and tolerances"], "print.tpl_quality": ["Tolerance profile", "Adjustment date/time", "Routine test name", "Routine test last execution date", "Routine test result", "GWP Approved state", "Level state", "MinWeigh state"], "print.tpl_result": ["Weight", "Tare weight", "Gross weight", "Info weight", "Date/time", "Stability"], "print.tpl_task": ["Method name", "Method comment", "Task IDs", "Custom unit settings", "Automatic result settings", "Count", "Sum", "Average", "Minimum", "Maximum", "Range", "Standard deviation", "Relative standard deviation"], "print.weight_value": false, "weighing.capture_delay": 5, "weighing.capture_mode": "Stable", "weighing.info_unit": "mg", "weighing.ionizer": false, "weighing.profile": null, "weighing.show_info": false, "weighing.smarttrac": true, "weighing.statistics": false}, "type": "General weighing"}]}, "pan.installed": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": true}, "power.enabled": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": true}, "procedure.state": {"quality": "unavailable", "reason": "No reading is available in the current acquisition, power, pan or range state.", "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": null}, "profiles.default": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": "tp1"}, "profiles.list": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": [{"certificate": "None", "environment": "Standard", "id": "tp1", "indicator": "None", "indicator_text": "", "name": "Default", "readability": "1d", "units": ["g", "mg", "µg", "kg", "ct", "N", "lb", "oz", "ozt", "GN", "dwt", "mom", "msg", "tlh", "tls", "tlt", "tola", "baht"], "value_release": "Fast and reliable", "weighing_mode": "Universal", "zero_drift": true}]}, "sensor.errors": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": {"internal_weight_error_kg": 0.0, "span_error_rel": 0.0, "span_tc_per_k": 0.0, "zero_drift_kg_s": 0.0, "zero_offset_kg": 0.0}}, "task.completed": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": []}, "task.current": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": {"item": null, "item_index": 0, "method_id": "m1", "method_name": "General Weighing", "method_type": "General weighing", "pending": null, "result_descriptions": ["Sample ID"], "result_ids": [""], "results": [], "started": "2026-01-01T00:00:00", "task_descriptions": ["Task ID"], "task_ids": [""]}}, "task.paused": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": []}, "task.statistics": {"quality": "unavailable", "reason": "No reading is available in the current acquisition, power, pan or range state.", "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": null}, "test_weights.list": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": []}, "tests.list": {"quality": "valid", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": false, "unit": "1", "value": []}, "users.state": {"quality": "estimated", "reason": null, "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": {"block_id": 0, "block_reason": null, "current_user": "Administrator", "groups": [{"block_unblock": true, "cancel_task": true, "configure_methods": true, "configure_system": true, "configure_tests": true, "configure_users": true, "exclude_overwrite": true, "execute_service": true, "group_name": "Administrators", "show_change_history": true, "start_external_adjustment": true, "start_tests": true}], "logged_in": true, "management": false, "rights": {"block_unblock": true, "cancel_task": true, "configure_methods": true, "configure_system": true, "configure_tests": true, "configure_users": true, "exclude_overwrite": true, "execute_service": true, "show_change_history": true, "start_external_adjustment": true, "start_tests": true}, "unblocking_password_set": false, "users": [{"active": true, "first_name": "", "groups": ["Administrators"], "language": "English", "last_name": "", "user_name": "Administrator"}]}}, "weighing.pending": {"quality": "unavailable", "reason": "No reading is available in the current acquisition, power, pan or range state.", "sample_time_s": 30.700000000000166, "sample_window_s": null, "synthetic": true, "unit": "1", "value": null}}}, "stop_on_success": true, "submitted": true, "success_latched": true, "task": "isaaclab/chemlab-balance-power", "task_definition": {"dwell_s": 1.0, "goals": [{"equals": true, "instrument": "instrument", "state": "power.enabled"}, {"equals": true, "instrument": "instrument", "state": "balance.stable"}], "instruments": {"instrument": {"asset": "instrument.mt_xpr204e", "initialize": [{"arguments": {"enabled": false}, "capability": "power.set"}]}}}}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/instruction.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/instruction.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da684640f5a0babc57567001976e7883d95e355
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/instruction.json
@@ -0,0 +1,14 @@
+{
+  "binding_paths": {},
+  "bindings": {},
+  "context": {},
+  "instruction": "Power on the analytical balance and obtain a stable reading for one simulation second.",
+  "native_instruction": "",
+  "policy": "original_native",
+  "prompt": "# Task: isaaclab/chemlab-balance-power\n\nPower on the analytical balance and obtain a stable reading for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "prompt_template": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-balance-power\n\nPower on the analytical balance and obtain a stable reading for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n",
+  "schema": "rlebench/episode-instruction/3",
+  "source": "catalog",
+  "task_id": "isaaclab/chemlab-balance-power",
+  "template": "Power on the analytical balance and obtain a stable reading for one simulation second."
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/journal/actions.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/journal/actions.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0e98e14eb7e748e9f660d4687db7761f4d60ad5
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/journal/actions.jsonl
@@ -0,0 +1,36 @@
+{"journal_version":1,"phase":"intent","request":{"args":{},"deadline_s":600.0,"generation":0,"op":"devices.list","protocol":"roboenv/1","request_id":"roboenv-f20d48448c8e1f6a","session":"57d79078b18c1731"},"supervisor_pid":27,"time_ns":1792735740399527822,"ts":"2026-10-23T06:09:00.399505+00:00"}
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/logs/worker.log b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/logs/worker.log
new file mode 100644
index 0000000000000000000000000000000000000000..166e830b11b45858b6cc952395dff8d1eb7af48e
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/logs/worker.log
@@ -0,0 +1,204 @@
+2026-10-23 06:07:35,991 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:35,993 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,004 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,006 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,006 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,006 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,008 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,009 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,009 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,011 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,011 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,023 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,023 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,024 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,024 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,027 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,027 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,029 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,029 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,030 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,032 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,033 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,034 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,038 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,040 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,040 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,042 INFO trimesh.util: triangulating faces
+2026-10-23 06:07:36,044 INFO trimesh.util: triangulating faces
+RoboEnv GPU selection: {"cuda_index": 0, "pci_bus_id": "0000:1e:00.0", "uuid": "GPU-3cc7e055-1d59-e7e3-a538-b14189f20b98", "vulkan_devices": 1, "vulkan_index": 0}
+2026-10-23 06:07:36,200 INFO isaaclab.app.app_launcher: No visualizer was selected, so running in headless mode. To launch a visualizer app, pass '--viz <names>' (for example '--viz kit').
+2026-10-23 06:07:36,200 INFO isaaclab.app.app_launcher: Using device: cuda:0
+2026-10-23 06:07:36,201 INFO isaaclab.app.app_launcher: Loading experience file: /opt/roboenv/runtime/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
+2026-10-23T06:07:36Z [Info] [carb] Logging to file: /opt/sim-env/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/IsaacLab/3.0/kit_20261023_060736.log
+2026-10-23T06:07:36Z [8ms] [Warning] [omni.ext.plugin] [ext: isaaclab_visualizers] Extensions config 'extension.toml' doesn't exist '/opt/roboenv/runtime/third_party/IsaacLab/source/isaaclab_visualizers' or '/opt/roboenv/runtime/third_party/IsaacLab/source/isaaclab_visualizers/config'
+2026-10-23 06:07:36,388 DEBUG asyncio: Using selector: EpollSelector
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792735656.431519      29 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792735656.431563      29 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+2026-10-23T06:07:36Z [666ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-23T06:07:36Z [668ms] [Warning] [omni.rtx] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-10-23T06:07:36Z [682ms] [Warning] [omni.rtx] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-10-23T06:07:36Z [682ms] [Warning] [omni.rtx] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 565.57.01     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA L40S                      | Yes: 0 |     | 46068   MB | 10de      | 0          |
+|     |                                  |        |     |            | 26b9      | 3cc7e055.. |
+|     |                                  |        |     |            | 1e        |            |
+|=============================================================================================|
+| OS: 24.04.1 LTS (Noble Numbat) ubuntu, Version: 24.04.1, Kernel: 6.8.0-124-generic
+| Processor: INTEL(R) XEON(R) GOLD 6548Y+
+| Cores: 64 | Logical Cores: 128
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 1547791 | Free Memory: 1388931
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-23T06:07:37Z [1,544ms] [Warning] [omni.rtx] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+2026-10-23T06:07:37Z [1,551ms] [Warning] [omni.rtx] ECC is enabled on physical device 0
+2026-10-23T06:07:37Z [1,565ms] [Warning] [omni.rtx] IOMMU is enabled.
+2026-10-23T06:07:39Z [3,021ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T06:07:39Z [3,021ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T06:07:39Z [3,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T06:07:39Z [3,193ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T06:07:39Z [3,197ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-23T06:07:39Z [3,197ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-23T06:07:40Z [4,078ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'any' as 'Any'
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'bool' as 'Bool' and array 'BoolArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'bundle' as 'Bundle'
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'double' as 'Double' and array 'DoubleArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'double[2]' as 'Double2' and array 'Double2Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'double[3]' as 'Double3' and array 'Double3Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'double[4]' as 'Double4' and array 'Double4Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'execution' as 'Execution'
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'float' as 'Float' and array 'FloatArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'float[2]' as 'Float2' and array 'Float2Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'float[3]' as 'Float3' and array 'Float3Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'float[4]' as 'Float4' and array 'Float4Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'frame[4]' as 'Frame' and array 'FrameArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'half' as 'Half' and array 'HalfArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'half[2]' as 'Half2' and array 'Half2Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'half[3]' as 'Half3' and array 'Half3Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'half[4]' as 'Half4' and array 'Half4Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'int' as 'Int' and array 'IntArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'int[2]' as 'Int2' and array 'Int2Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'int[3]' as 'Int3' and array 'Int3Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'int[4]' as 'Int4' and array 'Int4Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'int64' as 'Int64' and array 'Int64Array
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray
+2026-10-23 06:07:43,054 DEBUG AutoNode: Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'path' as 'Path'
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'quath[4]' as 'Quath' and array 'QuathArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'string' as 'String'
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'target' as 'Target'
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'token' as 'Token' and array 'TokenArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'uchar' as 'UChar' and array 'UCharArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'uint' as 'UInt' and array 'UIntArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'uint64' as 'UInt64' and array 'UInt64Array
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray
+2026-10-23 06:07:43,055 DEBUG AutoNode: Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray
+2026-10-23T06:07:43Z [7,306ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-23T06:07:43Z [7,483ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-23T06:08:01Z [25,298ms] [Warning] [rtx.hydra] RenderDelegate : Warning /rtx/hydra/readTransformsFromFabricInRenderDelegate and geometry streaming are enabled together but this can cause issues with dynamic objects not streaming correctly due to problems in the transform update.
+[ISAACLAB] AppLauncher initialization complete
+2026-10-23 06:08:44,164 WARNING isaaclab_physx.physics.physx_manager: TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23T06:08:44Z [67,920ms] [Warning] [isaaclab_physx.physics.physx_manager] TGS solver with enable_external_forces_every_iteration=False may cause noisy velocities.
+2026-10-23 06:08:44,701 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Startup: isaacsim.asset.transformer.rules-1.7.10
+2026-10-23 06:08:44,782 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 06:08:45,756 INFO isaacsim.asset.importer.utils.impl.asset_utils: Fixed base already present on /mt_xpr204e_px224e_functional_family/Geometry/base_link - skipping fix_base.
+2026-10-23 06:08:45,757 INFO isaacsim.asset.importer.utils.impl.asset_utils: Relocated ArticulationRootAPI on 1 rigid body(ies).
+2026-10-23 06:08:45,766 INFO isaacsim.asset.importer.utils.impl.importer_utils: Applied RobotAPI to prim /mt_xpr204e_px224e_functional_family
+2026-10-23 06:08:45,771 INFO isaacsim.asset.importer.utils.impl.importer_utils: Set isaac:robotType = 'Default' on /mt_xpr204e_px224e_functional_family
+2026-10-23 06:08:45,854 INFO isaacsim.asset.transformer.rules.extension: [isaacsim.asset.transformer.rules] Registered 16 rule(s)
+2026-10-23 06:08:49,509 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/57d79078b18c1731/evidence/tmp/chemlab-textures-zusdqxhe/instrument/physics/model/payloads/base.usda
+2026-10-23 06:08:50,246 INFO isaacsim.asset.transformer.manager: Switched working stage to: /run/rlebench/private/runs/57d79078b18c1731/evidence/tmp/chemlab-textures-zusdqxhe/instrument/physics/model/model.usda
+2026-10-23 06:08:50,260 INFO isaacsim.asset.transformer.manager: Skipping disabled rule: Delete Newton Redundant APIs
+2026-10-23 06:08:50,880 INFO isaaclab.utils.backend_utils: Registered backend 'physx' for factory Articulation.
+[INFO]: Registered backend 'physx' for factory Articulation.
+2026-10-23T06:08:51Z [75,168ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_front_left_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:51Z [75,168ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_front_right_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:51Z [75,168ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_rear_left_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:51Z [75,168ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_rear_right_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:52Z [75,845ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_front_left_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:52Z [75,846ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_front_right_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:52Z [75,846ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_rear_left_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:52Z [75,846ms] [Warning] [omni.physx.plugin] The rigid body at /World/instrument/physics/Geometry/base_link/foot_rear_right_screw_slide has a possibly invalid inertia tensor of {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used. Either specify correct values in the mass properties, or add collider(s) to any shape(s) that you wish to automatically compute mass properties for.
+2026-10-23T06:08:52Z [75,886ms] [Warning] [omni.usd] Encountered USD Warnings but USD Diagnostics are currently muted. To view USD Warnings, please set the '/persistent/app/usd/muteUsdDiagnostics' setting to false in Preferences page.
+2026-10-23 06:08:56,768 INFO isaaclab_physx.assets.articulation.articulation: Simulation parameters for joints in /World/instrument/physics:
++--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                      Simulation Joint Information (Prim path: /World/instrument/physics)                                                       |
++-------+-------------------------+-----------+---------+----------+-----------------+------------------+------------------+-------------------+-----------------+---------------+
+| Index | Name                    | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction |  Position Limits  | Velocity Limits | Effort Limits |
++-------+-------------------------+-----------+---------+----------+-----------------+------------------+------------------+-------------------+-----------------+---------------+
+|   0   | foot_front_left_height  |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   1   | foot_rear_left_height   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   2   | foot_front_right_height |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   3   | foot_rear_right_height  |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   4   | security_switch_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.004]  |      5.730      |     10.000    |
+|   5   | door_left_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.109]  |      5.730      |     10.000    |
+|   6   | door_right_joint        |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.109]  |      5.730      |     10.000    |
+|   7   | door_top_joint          |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.109]  |      5.730      |     10.000    |
+|   8   | foot_front_left_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
+|   9   | foot_rear_left_joint    |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
+|   10  | foot_front_right_joint  |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
+|   11  | foot_rear_right_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
++-------+-------------------------+-----------+---------+----------+-----------------+------------------+------------------+-------------------+-----------------+---------------+
+[INFO]: Simulation parameters for joints in /World/instrument/physics:
++--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+|                                                      Simulation Joint Information (Prim path: /World/instrument/physics)                                                       |
++-------+-------------------------+-----------+---------+----------+-----------------+------------------+------------------+-------------------+-----------------+---------------+
+| Index | Name                    | Stiffness | Damping | Armature | Static Friction | Dynamic Friction | Viscous Friction |  Position Limits  | Velocity Limits | Effort Limits |
++-------+-------------------------+-----------+---------+----------+-----------------+------------------+------------------+-------------------+-----------------+---------------+
+|   0   | foot_front_left_height  |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   1   | foot_rear_left_height   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   2   | foot_front_right_height |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   3   | foot_rear_right_height  |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |  [-0.002, 0.002]  |      0.057      |    100.000    |
+|   4   | security_switch_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.004]  |      5.730      |     10.000    |
+|   5   | door_left_joint         |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.109]  |      5.730      |     10.000    |
+|   6   | door_right_joint        |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.109]  |      5.730      |     10.000    |
+|   7   | door_top_joint          |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       |   [0.000, 0.109]  |      5.730      |     10.000    |
+|   8   | foot_front_left_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
+|   9   | foot_rear_left_joint    |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
+|   10  | foot_front_right_joint  |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
+|   11  | foot_rear_right_joint   |  1.0e+03  | 100.000 |  0.000   |      0.000      |      0.000       |      0.000       | [-12.566, 12.566] |      1.000      |     5.000     |
++-------+-------------------------+-----------+---------+----------+-----------------+------------------+------------------+-------------------+-----------------+---------------+
+2026-10-23T06:08:57Z [81,425ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
+2026-10-23 06:08:57,745 INFO isaaclab_physx.renderers.isaac_rtx_renderer_utils: RTX streaming completed in 0.05 s.
+[INFO]: RTX streaming completed in 0.05 s.
+2026-10-23 06:08:59,773 INFO isaacsim.asset.transformer.rules.utils: Discovered 12 Kit-shipped MDL basename(s) and 12 suffix form(s) (merged with 15 hardcoded fallback basename(s)).
+2026-10-23T06:08:59Z [83,530ms] [Warning] [omni.kit.material.library.material_extensions] Could not initialize context menu integration: No module named 'omni.kit.context_menu'
+2026-10-23 06:09:00,380 INFO __main__: worker ready: task=isaaclab/chemlab-balance-power seed=0 mode=practice socket=/tmp/roboenv-socket-jmhrocnn/worker.sock
+2026-10-23 06:09:42,164 INFO isaaclab_physx.renderers.isaac_rtx_renderer_utils: RTX streaming completed in 0.03 s.
+[INFO]: RTX streaming completed in 0.03 s.
+/usr/lib/python3.12/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 3 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/native-initialization.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/native-initialization.json
new file mode 100644
index 0000000000000000000000000000000000000000..50622343e719d2631498f04a5c1cf93870895ee6
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/native-initialization.json
@@ -0,0 +1,3503 @@
+{
+  "assets": {
+    "instruments": {
+      "instrument.agilent_1260infinity": {
+        "capabilities": 25,
+        "contract_sha256": "917a33bd5ba24b2c08b23f83cbe5a2284419b996d38796fe6ea5db4018f52d02",
+        "glb_sha256": "5cedb0acbd3d2981abe3f5dd7baaf1029e4f729ff6c6e178e0d6afe4779e793f",
+        "unsupported": 4,
+        "urdf_sha256": "ffda50cc455ab9f1c50c93d31ecf19213327996705e2f14bd00d9ba57de6e69c"
+      },
+      "instrument.agilent_1290infinity": {
+        "capabilities": 18,
+        "contract_sha256": "5b4bf089aaae875e665e3573b6a4e78efdbabd51376820b289667b4ffc9aee1c",
+        "glb_sha256": "6e50416396aed0c382dadd768730c1c9a51651a857df6382e298b0f9da18da5a",
+        "unsupported": 2,
+        "urdf_sha256": "574b6228deec0960c7556159f18b11ca4bdb188b7d5da891cf7401699876fba0"
+      },
+      "instrument.agilent_7890b_ssl_fid": {
+        "capabilities": 80,
+        "contract_sha256": "87b579d58636583037219d53703951dec6c1e6b4d50423ca99713a038f6afe28",
+        "glb_sha256": "02ae5910f151633d9fce43521cacded2c8af5c296cb463e2f4dba7b05db956cc",
+        "unsupported": 3,
+        "urdf_sha256": "88e0b63ea32ed83c150b4cd229267ca97a65cc8fa4f55a8f2db99b8d9ec13353"
+      },
+      "instrument.agilent_gc8890b": {
+        "capabilities": 88,
+        "contract_sha256": "e402c7043374321121e18ae740ba49572d1d18be27a94961df0e0ff7761253d3",
+        "glb_sha256": "abd24cfd94b4281fe1439b85333c7c55d679313ad63446ad56ebc7248e3f5962",
+        "unsupported": 10,
+        "urdf_sha256": "6bb871da38e11735eb8d8e15330e67946254f46fef10e4ef7ac5d6435ddc83a2"
+      },
+      "instrument.agilent_hplc1260": {
+        "capabilities": 15,
+        "contract_sha256": "51f45358be0f768a4d2511317eba12e95a38b6c8e9333a7bccb0610fa1379557",
+        "glb_sha256": "f7e46d383e82093a138753205ac8fef33dc32e0e8d626d8c894d3050f5107242",
+        "unsupported": 5,
+        "urdf_sha256": "3edf5b2802fbe44282a3cecf293451eb01217fef1285cb462779210806b35ee3"
+      },
+      "instrument.agilent_hs8697": {
+        "capabilities": 37,
+        "contract_sha256": "7f746eab4065ee796e3922be1b390538dd72ad54b1d550599ae2805cae065f60",
+        "glb_sha256": "78ac4067ec0d3c2888dd7b9f8dc4333eb07a656d9446ffe892c6cf82d0211f93",
+        "unsupported": 5,
+        "urdf_sha256": "0127b803fd51ee38f070534ed4d4042528801c5d1bda54b91d4c60ed42426c38"
+      },
+      "instrument.alicat_mc_1slpm_rev6": {
+        "capabilities": 24,
+        "contract_sha256": "ea769bfc35b86ac0c64548417973af89fe85a6c13e175f9ab382c44795da8819",
+        "glb_sha256": "28eb7577cb2abe3e42515b1cd062c72f803ad52d29e92babb7c27d7735f878de",
+        "unsupported": 1,
+        "urdf_sha256": "f471e6b094fb76441a09d1dec3d194ec3e6ab193244efb361613c48fb6f189af"
+      },
+      "instrument.ametek_oxtran": {
+        "capabilities": 48,
+        "contract_sha256": "ed33b0a042ef02d36e73c392a61035cd2504de7b9a20c539fee2ad4b6796e70d",
+        "glb_sha256": "cbd89ccbddc828622560f423793d567ac73a7c14e596533420cc88e9f633f064",
+        "unsupported": 9,
+        "urdf_sha256": "1db439b8c52e1b8c7845c918548a5b14a061ce29083650d3d94080fa29cf98df"
+      },
+      "instrument.antonpaar_abbematadvanced": {
+        "capabilities": 50,
+        "contract_sha256": "7e57b7862d4191651f93498f08263f0310e04db309ace202c8b94f79584ca495",
+        "glb_sha256": "1c162051e51ed13490ce48546ddfd0ea70c7c1d1a9c9f674830e244cd1ce38b4",
+        "unsupported": 0,
+        "urdf_sha256": "603c74aeb63eb91e3d6e8cc947ec0fd0cc9c3528f52b64dd56d2e0d7c8a6afda"
+      },
+      "instrument.antonpaar_autosorb6100": {
+        "capabilities": 33,
+        "contract_sha256": "a1a52fc2a871404de254e5fb02b5d58bf62f0d1836a267a93e2dc06e9f6369c6",
+        "glb_sha256": "3d5073796638ca69e2f4e0e4d06e671b70af5136fed948612d66c9690b2df2c9",
+        "unsupported": 7,
+        "urdf_sha256": "2229e0b8b8dd3a127ffbe420196b5a4d6e158941e087a5d6d003aa930a9fa2a3"
+      },
+      "instrument.antonpaar_dma5002": {
+        "capabilities": 52,
+        "contract_sha256": "44c6e958ce2f48734f0a2dcc7af817ddaf8b33441ecd614d59dad909c9eead7e",
+        "glb_sha256": "3cadd8d17caf59cec7f70c55e307268c4018c75f9e2d3412f0f64e7e798b9e37",
+        "unsupported": 0,
+        "urdf_sha256": "972646cb1bbc24e0fafc63bda5011051fa520e1e8302ba1e5a051d602e8ce390"
+      },
+      "instrument.antonpaar_hit300": {
+        "capabilities": 33,
+        "contract_sha256": "b9a69f91b52bd3c41abc3c032c183efc8425369d25d8817eeb6c3383d8e06f87",
+        "glb_sha256": "73c0471c4d18e02ca647ba878df6cd920fd682da37f6d48789117cca8c0d5198",
+        "unsupported": 11,
+        "urdf_sha256": "5d93c9ce519981778ea08c9e67aa474353b708a1cf2a9c3d663b05a44c5e30ee"
+      },
+      "instrument.antonpaar_litesizerdia": {
+        "capabilities": 29,
+        "contract_sha256": "6f989792bf1f1fef7fca4e70d7192f2f5a6882edfef40ea8960263ed56ef4490",
+        "glb_sha256": "fe47213790e64b91b2d82a1e241dda4d0b597f16367087175eabc913f7ff0dcc",
+        "unsupported": 8,
+        "urdf_sha256": "96461aefd7e155520c8b7001632fec707cd3d772e43b6d6ba06e15587ed6f8be"
+      },
+      "instrument.antonpaar_litesizerdls": {
+        "capabilities": 29,
+        "contract_sha256": "2cccb5b4b16ac3d611512c0a671de2f4b787cd489c1adcbf17003329b12cd1a8",
+        "glb_sha256": "2f6dac9ecbb5b1c5ee98f48edef86944427d817a9a79a97c8e63de10d69d78fd",
+        "unsupported": 9,
+        "urdf_sha256": "4798d704ff55d3f6fb6d73b207a5015301a4f98649a4ddec16db0dde8ef0d3c2"
+      },
+      "instrument.antonpaar_mcr503": {
+        "capabilities": 43,
+        "contract_sha256": "a2c4c5275babd28e1120a5831a0d8f53615f46c19a368b6dba914c5ce8363745",
+        "glb_sha256": "bbdb62920dc653487a5a5db6a65872e60231a945ef7f23fe507beb61a740b6ab",
+        "unsupported": 10,
+        "urdf_sha256": "051f41ffb506c0923128c66ccd18fb6a45be420f4a036ceeec13932d1bd01288"
+      },
+      "instrument.antonpaar_monowave400": {
+        "capabilities": 24,
+        "contract_sha256": "92ac5ec0f663f6bdb9c45db4ef8e6e282ce74ae62a4704fa4393a627b06bdb74",
+        "glb_sha256": "bc834e5bba0c99bb27fadf013602bca2a50c57c74f59b2c8706280b5dea06870",
+        "unsupported": 0,
+        "urdf_sha256": "a6ecb634607b5b6743972881a3c2a54ecda1b80ff35648e7b3ca9600fc7bdb35"
+      },
+      "instrument.antonpaar_poremaster60": {
+        "capabilities": 28,
+        "contract_sha256": "92f64d1913b8071234a99c398d22294aea1e849f5b503554d66a02398b5d92cd",
+        "glb_sha256": "b7055f4865a587915fc485b1a42738afed841de6fd91b33b1927361340b47b39",
+        "unsupported": 7,
+        "urdf_sha256": "3989f5962403099f44c37612ef1e1f0f798b5c987a42e5bfc134ceb5760a2677"
+      },
+      "instrument.antonpaar_psa1190": {
+        "capabilities": 28,
+        "contract_sha256": "f0652060aa0a8b5348a730d396bae6810152fa0529261f369daeb1435c19c590",
+        "glb_sha256": "4210798b338450e0f6788962216e746e1c1b925cb048d80077743d0eb7682c2c",
+        "unsupported": 8,
+        "urdf_sha256": "79346346c0a2a374e5983b51daac75bdb2ba44310e0295bb4f8c9c80f55f8c7b"
+      },
+      "instrument.antonpaar_rst300": {
+        "capabilities": 39,
+        "contract_sha256": "a0cf756f2197eae0ca85a776b28244ac634469123470d45a43b4a9fec965c5be",
+        "glb_sha256": "35fc618dc145bafeee7000d61f3291c251c74e1b60889d2366b9ec355f524b0c",
+        "unsupported": 13,
+        "urdf_sha256": "118f4c06268e0d3dad53efd42648a2af263fe74256b13074b2c031c95186fc5d"
+      },
+      "instrument.antonpaar_saxspace": {
+        "capabilities": 54,
+        "contract_sha256": "7bfc12ce074762e9b30fb081c12f2cab7c2aa1ced01c71ef4b03ab9b5644a387",
+        "glb_sha256": "97a52459f8ef69c6c5201bcf25263194c491d79de021afddd875886ecf43da6a",
+        "unsupported": 9,
+        "urdf_sha256": "97168b380cd9e861e97ef6141a568bba35f1180a014b17c8a93dc4bf3893579d"
+      },
+      "instrument.antonpaar_surpass3": {
+        "capabilities": 26,
+        "contract_sha256": "7db0c80e5360e8d3849d20913536e8edf14d39a8fc6307a2e9c083a50d5f2f9b",
+        "glb_sha256": "75c10f2789f13d482812a3b590149edd0fd7890a5290415c1505190e71e0d076",
+        "unsupported": 7,
+        "urdf_sha256": "6f01919187e268ffec8405f3766ebb9ece1dbbdcfef5bc5e39739f7fef1953ca"
+      },
+      "instrument.antonpaar_trb": {
+        "capabilities": 39,
+        "contract_sha256": "e2e16cf457e949124870dce3497fe1846d7d066dc0c0d9f5481d470d046e97d6",
+        "glb_sha256": "3aa802f7c0390a82625ecd396a574807caaaf560c92123d0eaa0b36d4dbecb9d",
+        "unsupported": 10,
+        "urdf_sha256": "4022aff0ed3423ad53351943502ef8c909456f6d966468c099fecab3648cdb8a"
+      },
+      "instrument.antonpaar_ultrapyc5000": {
+        "capabilities": 39,
+        "contract_sha256": "cf2c1c0ff94bd47883d2156f71cb81cc34663d83f091abeaf8d8190ab8898eb3",
+        "glb_sha256": "8e52d04191618bd68a8b33d4a1ce6d2549b5d068211d162c33058350720fdf5e",
+        "unsupported": 6,
+        "urdf_sha256": "85954549b6759b8a65611d331d91aa3a7b36ef00072e7fd6669cea3290f18903"
+      },
+      "instrument.applied_sx20": {
+        "capabilities": 19,
+        "contract_sha256": "22083b05d890de4fb6890507a70df104484f276c0d649bff5cc91ce57b4ca26f",
+        "glb_sha256": "66e7fd21736da9755bb4b1a5c148e5a5cec9164b9cf7fad5e775b0147be50c7d",
+        "unsupported": 3,
+        "urdf_sha256": "c3b84df561e65a6033aa7b0be9903b1dde1793150f343871391671e1ac23ec7f"
+      },
+      "instrument.aqualab_4te": {
+        "capabilities": 36,
+        "contract_sha256": "cbdef202fdfa7461bec48425d7347f5ac4c6890f6ebd651988a76fdf728d3fd3",
+        "glb_sha256": "2be4743e690beac7ea17a1a21f1d514b119ac821e64811b6219f59a0e9188bea",
+        "unsupported": 0,
+        "urdf_sha256": "33054c6fb096e86021106ea1cce418ab92ebc7272f21236bd5ffeaa1993d232c"
+      },
+      "instrument.arradiance_gemstarxt": {
+        "capabilities": 21,
+        "contract_sha256": "be142777053eaf323ea3038e657dfd205e12654a5227d6c5546f66f0ac1fa098",
+        "glb_sha256": "1cc7c64866f99d790034e4d37f4a8ddfadb5b7cd01d498488aa6fb976d8dbb30",
+        "unsupported": 0,
+        "urdf_sha256": "db2796ac57368757fd99a850dd144b1ded0c83682e3886e06e504e03c1d3ca50"
+      },
+      "instrument.azenta_automated_roll_heat_sealer_a4s": {
+        "capabilities": 29,
+        "contract_sha256": "9fb3c08de45fca78b20041f59d53abd8c07ce3a9eaf3a621341509de2e2c9a6b",
+        "glb_sha256": "35d39bd6893dbd2807e9b3070545a000a904b27c8cc4a3ab811adac37aa98407",
+        "unsupported": 1,
+        "urdf_sha256": "83b0ff60fc7d912d27b03c9e921818d5d18cad5a5132f4cbfbc773ddb4ff7dd7"
+      },
+      "instrument.azenta_intellixcap_s1_46_0001": {
+        "capabilities": 11,
+        "contract_sha256": "09841c929d720b173f341c760b4fb4f6e83270cf33ee3650943a19dc02f8611f",
+        "glb_sha256": "de8a55373a3611b0e28ef96724cff69d340dd577687a0d2a8fd0503e76824735",
+        "unsupported": 1,
+        "urdf_sha256": "e97e73187c00b5bb063d263fdf5496b5317d6ff70316235440d624f255f8e3df"
+      },
+      "instrument.bd_facsariaiii": {
+        "capabilities": 69,
+        "contract_sha256": "eb97c0a021dabf1582141b3c6eb0b4caf40e471e7b8a926f48e62f292e7355f6",
+        "glb_sha256": "aa83d2c722fa9bf9452fea74151b5a5675742028dcef065f47a4c21e42c229fb",
+        "unsupported": 6,
+        "urdf_sha256": "c3893a0aad0d31459a4d22f6ad48e213c77155f50b9e1c9e7a53db276dd23d4c"
+      },
+      "instrument.binder_fd056": {
+        "capabilities": 38,
+        "contract_sha256": "f2fcb7bda2604a471d04c87ed6b29972e39e61a9e809f8a4c1b74ff4f5f499a8",
+        "glb_sha256": "b72b6a9a1c6195114337ea6b30e71967b1ee1e5c87b37f7d64db87e537e5e883",
+        "unsupported": 8,
+        "urdf_sha256": "60df41d10f7ec172736939fae9c84369907ae948e5d49cff37fcede051622513"
+      },
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+          "general.export_directory": "USB storage device",
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+          "output.date": false,
+          "output.decimal_delimiter": ".",
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+          "quality.leveling_warning": "Optional leveling",
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+          "screen.sound_key": true,
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+          "services.file_server": false,
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+          "services.labx": "Inactive",
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+          "users.automatic_logout": true,
+          "users.logout_wait": 10,
+          "users.password_reset": "Allowed",
+          "users.user_proposals": true
+        }
+      },
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+          "tlh",
+          "tls",
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+              "ids.result_2_description": "Result ID 2",
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+              "ids.result_2_type": "Manual with default",
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+              "ids.result_3_description": "Result ID 3",
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+              "ids.result_3_type": "Manual with default",
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+              "ids.task_1_description": "Task ID",
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+              "ids.task_2_description": "Task ID 2",
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+              "ids.task_2_type": "Manual with default",
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+              "ids.task_3_description": "Task ID 3",
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+              "name": "General Weighing",
+              "print.label_cutting": "Off",
+              "print.results_export": false,
+              "print.strip_printer": false,
+              "print.tpl_balance": [
+                "Balance type",
+                "Balance ID",
+                "Balance serial number",
+                "Software version"
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+                "Title",
+                "Title text",
+                "Date/time",
+                "User name",
+                "Signature",
+                "Separating lines",
+                "Group titles"
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+              "print.tpl_item": [
+                "Show excluded weighing items",
+                "Result state",
+                "Result IDs",
+                "GWP Approved state",
+                "Level state",
+                "MinWeigh state",
+                "Tolerance state",
+                "Target and tolerances"
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+              "print.tpl_quality": [
+                "Tolerance profile",
+                "Adjustment date/time",
+                "Routine test name",
+                "Routine test last execution date",
+                "Routine test result",
+                "GWP Approved state",
+                "Level state",
+                "MinWeigh state"
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+                "Weight",
+                "Tare weight",
+                "Gross weight",
+                "Info weight",
+                "Date/time",
+                "Stability"
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+                "Method name",
+                "Method comment",
+                "Task IDs",
+                "Custom unit settings",
+                "Automatic result settings",
+                "Count",
+                "Sum",
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+                "Minimum",
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+              "oz",
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+            "weighing_mode": "Universal",
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+          "result_descriptions": [
+            "Sample ID"
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+          "task_descriptions": [
+            "Task ID"
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+          "current_user": "Administrator",
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+              "configure_methods": true,
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+              "configure_tests": true,
+              "configure_users": true,
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+              "execute_service": true,
+              "group_name": "Administrators",
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+              "start_external_adjustment": true,
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+          "logged_in": true,
+          "management": false,
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+            "start_external_adjustment": true,
+            "start_tests": true
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+          "users": [
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+              "active": true,
+              "first_name": "",
+              "groups": [
+                "Administrators"
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+              "language": "English",
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+              "user_name": "Administrator"
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+        }
+      },
+      "weighing.pending": {
+        "quality": "unavailable",
+        "reason": "No reading is available in the current acquisition, power, pan or range state.",
+        "sample_time_s": 0.30000000000000004,
+        "sample_window_s": null,
+        "synthetic": true,
+        "unit": "1",
+        "value": null
+      }
+    }
+  },
+  "stop_on_success": true,
+  "submitted": false,
+  "success_latched": false,
+  "task": "isaaclab/chemlab-balance-power",
+  "task_definition": {
+    "dwell_s": 1.0,
+    "goals": [
+      {
+        "equals": true,
+        "instrument": "instrument",
+        "state": "power.enabled"
+      },
+      {
+        "equals": true,
+        "instrument": "instrument",
+        "state": "balance.stable"
+      }
+    ],
+    "instruments": {
+      "instrument": {
+        "asset": "instrument.mt_xpr204e",
+        "initialize": [
+          {
+            "arguments": {
+              "enabled": false
+            },
+            "capability": "power.set"
+          }
+        ]
+      }
+    }
+  }
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/recording/frames.jsonl b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/recording/frames.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec3ba132be368d0061f04df084c634cef69a27f6
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/recording/frames.jsonl
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/recording/manifest.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/recording/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..48953ecf69cb72479defd0965a64d462c80d5d0a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/recording/manifest.json
@@ -0,0 +1,35 @@
+{
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/stopped.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/stopped.json
new file mode 100644
index 0000000000000000000000000000000000000000..87d9df59c8fe7f87b51d80747c4f9dc27c53f516
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/stopped.json
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+{
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+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/terminal.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/terminal.json
new file mode 100644
index 0000000000000000000000000000000000000000..099827b517c1a09f22456a7ad085b7300b42e962
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/owner/terminal.json
@@ -0,0 +1,50 @@
+{
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+    "simulation_time_s": null,
+    "state": "terminal",
+    "success": true,
+    "terminal": true
+  },
+  "task": "isaaclab/chemlab-balance-power",
+  "verdict": {
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/replay.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/replay.json
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index 0000000000000000000000000000000000000000..26f150b9cccc2b9ec5791767fc4c14d48e357db6
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/replay.json
@@ -0,0 +1,8 @@
+{
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+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/summary.json
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+{
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/task.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/task.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4525e56d9186b32f88ee5ce72e687cfc30ea80f0
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/task.yaml
@@ -0,0 +1,26 @@
+id: isaaclab/chemlab-balance-power
+robot: isaaclab/isaaclab-chemlab-instruments
+instruction: Power on the analytical balance and obtain a stable reading for one simulation
+  second.
+seed: 0
+budget_mode: practice
+execution_mode: realtime
+stop_on_success: true
+backend_kwargs:
+  task_name: chemlab-instruments
+  task_spec:
+    instruments:
+      instrument:
+        asset: instrument.mt_xpr204e
+        initialize:
+        - capability: power.set
+          arguments:
+            enabled: false
+    goals:
+    - instrument: instrument
+      state: power.enabled
+      equals: true
+    - instrument: instrument
+      state: balance.stable
+      equals: true
+    dwell_s: 1.0
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/artifacts.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/artifacts.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e681afda574e2abd34d561c325b9dcb5afcb3dc
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/artifacts.json
@@ -0,0 +1,77 @@
+{
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+          "name": "third_person",
+          "pose": null,
+          "source": "third_person",
+          "width": 1280
+        },
+        {
+          "fov_y": 50.0,
+          "height": 720,
+          "name": "instrument_terminal",
+          "pose": null,
+          "source": "instrument_terminal",
+          "width": 1280
+        }
+      ]
+    },
+    "represented_samples": 308,
+    "source_sample_coverage": 1.0,
+    "source_samples_complete": true,
+    "video_available": true,
+    "videos": [
+      {
+        "bytes": 1087646,
+        "path": "recording/third_person.mp4"
+      },
+      {
+        "bytes": 1161187,
+        "path": "recording/instrument_terminal.mp4"
+      }
+    ]
+  },
+  "schema": "rlebench/episode-artifacts/1",
+  "terminal_evidence": {
+    "available": true,
+    "complete": true,
+    "manifest": {
+      "complete": true,
+      "files": {
+        "final-observation.json": {
+          "complete": true,
+          "path": "final-observation.json",
+          "sha256": "9b176862162fc3dd793a18d08fe7d1a7b4fb29ce29261a078b8233d3a33b7985"
+        }
+      },
+      "schema": "roboenv/terminal-evidence/1"
+    }
+  },
+  "workspace_complete": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/episode.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/episode.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d502d889413a01d7e628c9f14bdce44ad4a7c78
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/episode.json
@@ -0,0 +1,21 @@
+{
+  "episode": 1,
+  "initialization": {
+    "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+    "execution_mode": "realtime",
+    "loaded_state_sha256": "c271bc21e1116faa5c1cfb55a77b70ac0f336fb0e2a0323056668cf744d598a3",
+    "seed": 0,
+    "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+    "task": "isaaclab/chemlab-balance-power",
+    "task_sha256": "7701ee26ff07d6edc3080c67ba90a43915438c042a2c72288890588980e828d0"
+  },
+  "native_reward": 1.0,
+  "planned_episodes": 1,
+  "reason": "success",
+  "simulation_time_s": null,
+  "step_limit": null,
+  "steps": 307,
+  "success": true,
+  "valid": true
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/episodes.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/episodes.json
new file mode 100644
index 0000000000000000000000000000000000000000..5574581f13cdb5abf83362c16a1a51158fdaf912
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/episodes.json
@@ -0,0 +1,23 @@
+[
+  {
+    "episode": 1,
+    "initialization": {
+      "asset_revision": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+      "assets_sha256": "a87a4b0ca48608ce590591db651fd614158b8163591fd66350c28aefed6b285d",
+      "execution_mode": "realtime",
+      "loaded_state_sha256": "c271bc21e1116faa5c1cfb55a77b70ac0f336fb0e2a0323056668cf744d598a3",
+      "seed": 0,
+      "sources_sha256": "f1b29e60a860cb656bc3a3b2263575ea6d6e69627956f16b9e4f9b7163b10c3d",
+      "task": "isaaclab/chemlab-balance-power",
+      "task_sha256": "7701ee26ff07d6edc3080c67ba90a43915438c042a2c72288890588980e828d0"
+    },
+    "native_reward": 1.0,
+    "planned_episodes": 1,
+    "reason": "success",
+    "simulation_time_s": null,
+    "step_limit": null,
+    "steps": 307,
+    "success": true,
+    "valid": true
+  }
+]
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/protocol.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc99b6c17bd69e1f5e3ff3234624d983d1716d6
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/protocol.json
@@ -0,0 +1,70 @@
+{
+  "episode_specs": [
+    {
+      "instruction_template": {
+        "bindings": {},
+        "policy": "original_native",
+        "prompt": "<!-- rlebench:resolved-episode-instruction -->\n# Task: isaaclab/chemlab-balance-power\n\nPower on the analytical balance and obtain a stable reading for one simulation second.\n\n## Work to do\n\nSolve the task efficiently. The simulation is already running.\nFollow the task instruction above, including its completion requirements.\nUse `roboenv describe --endpoint \"$ROBOENV_ENDPOINT\"` to inspect the environment\nand public task context. Its native instruction is reference text; the task\ninstruction above already includes this episode's required assignments.\nReuse your saved tools, skills, and memos.\n\n## Limits\n\nYou have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is\n28800 seconds, including updates to saved resources.\nDo not launch or reset a simulation.\n\n\n\n## Completion\n\nUse `roboenv status --endpoint \"$ROBOENV_ENDPOINT\" --json` to check the simulation\nstate and remaining budget. It does not report success or failure. When finished,\ncall `roboenv stop --endpoint \"$ROBOENV_ENDPOINT\" --json` to finalize the attempt\nand receive the final judgment. Stopping does not grant a retry. If the simulation\nhas already terminated, use the same stop command to retrieve its final judgment.\n\n## Saved resources\n\nMaintain reusable code in `tools/`, skills in `skills/`, and concise working notes\nin `memos/`. Improve existing files in place as you learn, replacing outdated\ncontent. Create a new file only when no existing resource fits; do not create\nper-attempt reflections or numbered copies. These files persist across fresh\nconversations. Update them before finishing your response.\n\n## Robot and device access\n\nThe robot is **No robot; instrument command interface**, running in **isaaclab**.\n\n| Device | Type |\n|---|---|\n| `instrument` | other |\n| `world` | world |\n\nWork in `/workspace`. The RoboEnv Python SDK and CLI are installed, and\n`ROBOENV_ENDPOINT` identifies the running service. Read `harness.md` before issuing\ncommands: RoboEnv supplies the connection procedure, device APIs, each vector\ndimension, units, limits, frames, geometry, and sensor formats there.\n\n```python\nimport os\nimport roboenv\nenv = roboenv.connect(os.environ['ROBOENV_ENDPOINT'])\nprint(env.devices())\nprint(env.status())\n```\n\nUse `env.device(name).read()` and the documented write arguments. Infer scene\ngeometry from camera observations. An accepted command is not proof of arrival;\ninspect measured feedback. Update reusable tools, skills, and memos in place.\n\n"
+      },
+      "max_steps": null,
+      "provider": "roboenv",
+      "seed": 0,
+      "task": {
+        "backend_kwargs": {
+          "asset_directory": "/opt/roboenv/assets/chemlab/a6c006f921c9bee62f5585dd7f769163a7f51573",
+          "task_name": "chemlab-instruments",
+          "task_spec": {
+            "dwell_s": 1.0,
+            "goals": [
+              {
+                "equals": true,
+                "instrument": "instrument",
+                "state": "power.enabled"
+              },
+              {
+                "equals": true,
+                "instrument": "instrument",
+                "state": "balance.stable"
+              }
+            ],
+            "instruments": {
+              "instrument": {
+                "asset": "instrument.mt_xpr204e",
+                "initialize": [
+                  {
+                    "arguments": {
+                      "enabled": false
+                    },
+                    "capability": "power.set"
+                  }
+                ]
+              }
+            }
+          }
+        },
+        "budget_mode": "practice",
+        "execution_mode": "realtime",
+        "id": "isaaclab/chemlab-balance-power",
+        "instruction": "Power on the analytical balance and obtain a stable reading for one simulation second.",
+        "robot": "isaaclab/isaaclab-chemlab-instruments",
+        "seed": 0,
+        "stop_on_success": true
+      },
+      "yaml": "/opt/benchmark/episode_01.yaml"
+    }
+  ],
+  "episodes": 1,
+  "instruction_policy": "original_native",
+  "max_steps": null,
+  "memory_retention": "retain",
+  "previous_episode_feedback": false,
+  "provider": "roboenv",
+  "realtime": true,
+  "recording": true,
+  "safety_timeout_sec": 28800,
+  "seeds": [
+    0
+  ],
+  "step_unit": "native action frames",
+  "version": "episodic-learning-v1"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/reward.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/reward.json
new file mode 100644
index 0000000000000000000000000000000000000000..65efe5079f081e5942187ad7b8ecb91b4d48d4e9
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/reward.json
@@ -0,0 +1,4 @@
+{
+  "reward": 1.0,
+  "valid": 1.0
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/workspace.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/workspace.json
new file mode 100644
index 0000000000000000000000000000000000000000..93ac623a3109070eed92c6a2c822413aa65ffe49
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/verifier/workspace.json
@@ -0,0 +1,82 @@
+{
+  "added": [
+    ".kinex/devices/_camera.py",
+    ".kinex/devices/_roboenv.py",
+    ".kinex/devices/instrument/connection.json",
+    ".kinex/devices/instrument/driver.py",
+    ".kinex/devices/instrument/intrinsics.json",
+    ".kinex/devices/instrument/profile.yaml",
+    ".kinex/devices/world/connection.json",
+    ".kinex/devices/world/driver.py",
+    ".kinex/devices/world/profile.yaml",
+    ".kinex/memos/chemlab-balance.md",
+    ".kinex/workspace.yaml",
+    "instruction.md"
+  ],
+  "files": {
+    ".kinex/devices/_camera.py": {
+      "bytes": 2815,
+      "sha256": "308f75cac021bf6fa8c6f9649380544f48d4d3a94c674fbf8ce027d44170c447"
+    },
+    ".kinex/devices/_roboenv.py": {
+      "bytes": 22951,
+      "sha256": "91917ae37663415832f91dc404db0c31886b785a7fb45d7847feb3f937a4232b"
+    },
+    ".kinex/devices/instrument/connection.json": {
+      "bytes": 80,
+      "sha256": "35202a7aaa5cf9549b8c5c2382b5d32fef295d5644cfa7efd3be865b866f9f29"
+    },
+    ".kinex/devices/instrument/driver.py": {
+      "bytes": 1017,
+      "sha256": "bcc8581a7671c306f630caefb30d3efee41e4c9852ce9a574a4ddc6a0c97f609"
+    },
+    ".kinex/devices/instrument/intrinsics.json": {
+      "bytes": 32705,
+      "sha256": "c36acf63bb2628ebe550d944c694511ef9688240f6017bb32e8d11d77a72c511"
+    },
+    ".kinex/devices/instrument/profile.yaml": {
+      "bytes": 1954,
+      "sha256": "24b8a4c5edee5b6d6b380dbf817be8452d6b6a35333b3f8f943c435dd733a7a2"
+    },
+    ".kinex/devices/world/connection.json": {
+      "bytes": 80,
+      "sha256": "35202a7aaa5cf9549b8c5c2382b5d32fef295d5644cfa7efd3be865b866f9f29"
+    },
+    ".kinex/devices/world/driver.py": {
+      "bytes": 846,
+      "sha256": "53170d311964250142c87df4111f277ee94ea053c9eb45d80f60d5f8c07c5b24"
+    },
+    ".kinex/devices/world/profile.yaml": {
+      "bytes": 482,
+      "sha256": "8bddcbbfa9cb29d8c1834973cedffb0b4c768430d63ccfaaaf5a094ac6cf89b0"
+    },
+    ".kinex/memos/chemlab-balance.md": {
+      "bytes": 1445,
+      "sha256": "e93942f3284d07bc2e415f4be6a610862272a374e80d80dcc1831c0dc3b925a6"
+    },
+    ".kinex/workspace.yaml": {
+      "bytes": 596,
+      "sha256": "05ee05f92fb5d1d37b51e63bcbcde6b143458c64c0492ba5d21eb12f92e7aa1f"
+    },
+    "instruction.md": {
+      "bytes": 2587,
+      "sha256": "e509b93e3e8523441a76a6d05ae24c9fcef9a375faf12744aeef254c90063579"
+    }
+  },
+  "modified": [],
+  "removed": [],
+  "schema": "rlebench/episode-workspace/1",
+  "scope": [
+    "instruction.md",
+    "harness.md",
+    ".kinex/workspace.yaml",
+    ".kinex/devices",
+    "tools",
+    "skills",
+    "memos",
+    ".kinex/tools",
+    ".kinex/skills",
+    ".kinex/memos"
+  ],
+  "skipped_symlinks": []
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/_camera.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/_camera.py
new file mode 100644
index 0000000000000000000000000000000000000000..27eecb55699f9de34096f468c3ce6be4cde99338
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/_camera.py
@@ -0,0 +1,73 @@
+"""Camera output conversion; the server's artifact protocol stays unchanged."""
+
+import base64
+import io
+import math
+import struct
+from pathlib import Path
+
+
+def output_mode(value="file"):
+    if value not in ("file", "array", "base64"):
+        raise ValueError("camera output must be file, array or base64")
+    return value
+
+
+def camera_read(data, profile):
+    value = data["timestamp"]
+    if type(value) not in {int, float} or not math.isfinite(value):
+        raise ValueError("Invalid camera timestamp")
+    content = "color" in data
+    color = profile["intrinsics"]["color"]
+    if content:
+        header = base64.b64decode(data["color"], validate=True)[:26]
+    else:
+        with Path(data["file"]).open("rb") as handle:
+            header = handle.read(26)
+    if (
+        len(header) != 26
+        or header[:8] != b"\x89PNG\r\n\x1a\n"
+        or header[12:16] != b"IHDR"
+        or header[24:26] != b"\x08\x02"
+        or struct.unpack(">II", header[16:24]) != (color["width"], color["height"])
+    ):
+        raise ValueError("Remote color must be an RGB8 PNG at the profile resolution")
+    key = "color" if content else "file"
+    result = {key: data[key], "timestamp": value}
+    if profile["type"] == "rgb":
+        return result
+    depth = profile["intrinsics"]["depth"]
+    if depth["registration"] != "color" or depth["quantity"] != "z" or depth["invalid_value"] != 0:
+        raise ValueError("RoboCasa serves color-registered optical Z with zero invalid")
+    width, height = depth["width"], depth["height"]
+    expected = f"P5\n{width} {height}\n65535\n".encode()
+    key = "depth" if content else "depth_file"
+    if content:
+        raw = base64.b64decode(data[key], validate=True)
+    else:
+        with Path(data[key]).open("rb") as handle:
+            raw = handle.read(len(expected) + width * height * 2 + 1)
+    if not raw.startswith(expected) or len(raw) != len(expected) + width * height * 2:
+        raise ValueError("Remote depth must be PGM16 at the profile resolution")
+    limits = depth["valid_range_m"]
+    if any(
+        pixel != depth["invalid_value"]
+        and not limits["min"] <= pixel * depth["scale_m_per_unit"] <= limits["max"]
+        for (pixel,) in struct.iter_unpack(">H", raw[len(expected) :])
+    ):
+        raise ValueError("Remote depth exceeds the declared valid range")
+    return {**result, key: data[key]}
+
+
+def arrays(data, profile):
+    import numpy as np
+    from PIL import Image
+
+    result = dict(data)
+    for key in ("color", "depth") if profile["type"] == "rgbd" else ("color",):
+        raw = base64.b64decode(data[key], validate=True)
+        with Image.open(io.BytesIO(raw)) as image:
+            result[key] = np.array(
+                image, dtype=np.uint8 if key == "color" else np.uint16, copy=True
+            )
+    return result
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/_roboenv.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/_roboenv.py
new file mode 100644
index 0000000000000000000000000000000000000000..62fe4fea7250765be2a88c30c271bf247c8ad1e3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/_roboenv.py
@@ -0,0 +1,530 @@
+"""Portable driver dialog and transport, shared by one exported device collection."""
+
+import base64
+import contextlib
+import http.client
+import json
+import os
+import secrets
+import shutil
+import signal
+import socket
+import sys
+import tempfile
+import threading
+import time
+from concurrent.futures import ThreadPoolExecutor, wait
+from functools import cached_property
+from pathlib import Path
+from urllib.parse import quote, urlsplit
+
+MAX_BYTES = 8 * 1024 * 1024
+
+
+class WireError(RuntimeError):
+    def __init__(self, message, code, request_id, details=None):
+        super().__init__(message)
+        self.code, self.request_id, self.details = code, request_id, details
+
+
+class Transport:
+    def __init__(self, driver, *, device=None):
+        self.directory = Path(driver).resolve().parent
+        self.device = device
+        self._local = threading.local()
+        self._connections = set()
+        self._connections_lock = threading.Lock()
+        self.connection = None
+        self.last_exchange = 0
+        self.used = False
+        self.unloaded = False
+        self.deadline = None
+        self._motions = {}
+        self._motion_lock = threading.Lock()
+        self._motion_error = None
+
+    @property
+    def connection(self):
+        return getattr(self._local, "connection", None)
+
+    @connection.setter
+    def connection(self, value):
+        self._local.connection = value
+        if value is not None:
+            with self._connections_lock:
+                self._connections.add(value)
+
+    @property
+    def last_exchange(self):
+        return getattr(self._local, "last_exchange", 0)
+
+    @last_exchange.setter
+    def last_exchange(self, value):
+        self._local.last_exchange = value
+
+    def close_all(self):
+        with self._connections_lock:
+            connections, self._connections = self._connections, set()
+        for connection in connections:
+            if connection.sock is not None:
+                with contextlib.suppress(OSError):
+                    connection.sock.shutdown(socket.SHUT_RDWR)
+            connection.close()
+
+    @cached_property
+    def profile(self):
+        import yaml
+
+        return yaml.safe_load((self.directory / "profile.yaml").read_text())
+
+    def settings(self):
+        return self.profile
+
+    @cached_property
+    def config(self):
+        file = self.directory / "connection.json"
+        return (
+            json.loads(file.read_text())
+            if file.is_file()
+            else {
+                "endpoint": os.environ.get("ROBOENV_ENDPOINT"),
+                "socket": os.environ.get("ROBOENV_SOCKET"),
+                "session": os.environ.get("ROBOENV_SESSION"),
+                "generation": int(os.environ.get("ROBOENV_GENERATION", "0")),
+            }
+        )
+
+    @cached_property
+    def endpoint(self):
+        if self.config.get("endpoint") or self.config.get("socket"):
+            return self.config.get("endpoint")
+        return self.settings()["access"]["connection"]["url"]
+
+    @cached_property
+    def identity(self):
+        identity = {
+            "protocol": "roboenv/1",
+            "session": self.config.get("session") or "roboenv",
+            "generation": self.config.get("generation", 0),
+        }
+        if self.endpoint and not self.config.get("session"):
+            try:
+                found = json.loads(self.exchange(self.endpoint, "GET"))
+                if (
+                    not isinstance(found, dict)
+                    or found.get("protocol") != "roboenv/1"
+                    or not isinstance(found.get("session"), str)
+                    or type(found.get("generation")) is not int
+                    or found["generation"] < 0
+                ):
+                    raise ValueError("Endpoint returned an invalid environment identity")
+                identity = {key: found[key] for key in identity}
+            except Exception:
+                self.close()
+                raise
+        return identity
+
+    @cached_property
+    def target(self):
+        if self.device is not None:
+            return self.device
+        profile = self.settings()
+        key = "camera" if profile["type"] in {"rgb", "rgbd"} else "device"
+        return profile["access"]["connection"][key]
+
+    @cached_property
+    def can_stop(self):
+        return "stop" in self.settings()["access"]["driver"]["actions"]
+
+    def close(self):
+        if self.connection is not None:
+            with self._connections_lock:
+                self._connections.discard(self.connection)
+            self.connection.close()
+            self.connection = None
+
+    def timeout(self):
+        if self.deadline is None:
+            return 605
+        remaining = self.deadline - time.monotonic()
+        if remaining <= 0:
+            raise TimeoutError("Driver cleanup deadline exceeded")
+        return remaining
+
+    def exchange(self, endpoint, method, path="/", body=None, destination=None):
+        if self.connection is not None and time.monotonic() - self.last_exchange >= 5:
+            self.close()
+        try:
+            if self.connection is None:
+                url = urlsplit(endpoint)
+                if (
+                    url.scheme not in {"http", "https"}
+                    or not url.hostname
+                    or url.username is not None
+                    or url.password is not None
+                    or url.path not in {"", "/"}
+                    or url.query
+                    or url.fragment
+                ):
+                    raise ValueError("Expected an HTTP(S) device endpoint")
+                cls = (
+                    http.client.HTTPSConnection
+                    if url.scheme == "https"
+                    else http.client.HTTPConnection
+                )
+                self.connection = cls(url.hostname, url.port, timeout=self.timeout())
+            self.connection.timeout = self.timeout()
+            if self.connection.sock is not None:
+                self.connection.sock.settimeout(self.timeout())
+            self.connection.request(
+                method, path, body=body, headers={"Content-Type": "application/json"}
+            )
+            response = self.connection.getresponse()
+            if response.status != 200:
+                raise RuntimeError(f"HTTP {response.status}")
+            expected = response.length
+            if expected is None:
+                raise ValueError("Response requires Content-Length")
+            if destination is None:
+                raw = response.read(MAX_BYTES + 1)
+                if len(raw) > MAX_BYTES or len(raw) != expected:
+                    raise ValueError(
+                        "Oversized or incomplete response; use output='file' for large images"
+                    )
+            else:
+                size = 0
+                with destination.open("wb") as stream:
+                    while chunk := response.read(65536):
+                        size += stream.write(chunk)
+                if size != expected:
+                    raise ValueError("Incomplete artifact")
+                raw = None
+            self.last_exchange = time.monotonic()
+            if response.will_close:
+                self.close()
+            return raw
+        except BaseException:
+            # Also discard an interrupted request before SIGTERM cleanup uses the wire.
+            self.close()
+            if destination is not None:
+                destination.unlink(missing_ok=True)
+            raise
+
+    def cancel_motions(self):
+        with self._motion_lock:
+            identities = set(self._motions.values())
+            self._motions.clear()
+        for identity in identities:
+            self.remote("cancel_motion", {"execution_id": identity})
+
+    def write(self, args, reading):
+        """Validate accepted motion feedback, cancelling only this request on failure."""
+        if self._motion_error is not None:
+            raise self._motion_error
+        request_id = f"driver-{secrets.token_hex(8)}"
+        accepted = False
+        try:
+            data = self.remote("write", args, request_id=request_id)
+            accepted = True
+            if not isinstance(data, dict) or data.get("execution_id") != request_id:
+                raise ValueError("motion must return its execution_id")
+            if not isinstance(data.get("state"), dict):
+                raise ValueError("motion must return measured state")
+            return {**data, "state": reading(data["state"])}
+        except Exception as error:
+            if not accepted and not (
+                isinstance(error, WireError) and error.code == "outcome_unknown"
+            ):
+                raise
+            try:
+                result = self.remote("cancel_motion", {"execution_id": request_id})
+                if not isinstance(result, dict) or type(result.get("stopped")) is not bool:
+                    raise ValueError("Remote cancellation was not acknowledged")
+            except Exception as cleanup:
+                self._motion_error = WireError(
+                    f"{error}; cancellation failed: {cleanup}", "stop_failed", request_id,
+                    {"effects": "unknown", "validation_error": str(error),
+                     "cleanup_error": str(cleanup)},
+                )
+                raise self._motion_error from cleanup
+            with self._motion_lock:
+                if self._motions.get(self.target) == request_id:
+                    self._motions.pop(self.target)
+            raise
+
+    def remote(self, action, args, *, image_output="file", request_id=None):
+        identity = self.identity
+        if request_id is None:
+            request_id = secrets.token_hex(8)
+            if action == "wait":
+                request_id = getattr(self._local, "request_id", request_id)
+            request_id = f"driver-{request_id}"
+        request = {
+            **identity,
+            "request_id": request_id,
+            "deadline_s": 600 if self.deadline is None else self.timeout(),
+            "op": {"cancel_motion": "devices.cancel"}.get(action, "devices.call"),
+            "args": args
+            if action == "cancel_motion"
+            else {"device": self.target, "action": action, "args": args},
+        }
+        payload = json.dumps(request, allow_nan=False).encode() + b"\n"
+        if len(payload) > MAX_BYTES:
+            raise ValueError("Device request is too large")
+        if action in {"write", "wait"}:
+            with self._motion_lock:
+                self._motions[request_id if action == "wait" else self.target] = request_id
+        self.used, self.unloaded = True, False
+        # A broken connection never causes this request to be resubmitted.
+        try:
+            if self.endpoint:
+                raw = self.exchange(self.endpoint, "POST", body=payload)
+            else:
+                with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+                    sock.settimeout(self.timeout())
+                    sock.connect(self.config["socket"])
+                    sock.sendall(payload)
+                    with sock.makefile("rb") as stream:
+                        raw = stream.readline(MAX_BYTES + 1)
+            response = json.loads(raw)
+            if (
+                len(raw) > MAX_BYTES
+                or not raw.endswith(b"\n")
+                or any(response.get(key) != request[key] for key in (*identity, "request_id"))
+                or type(response.get("generation")) is not int
+                or type(response.get("ok")) is not bool
+            ):
+                raise ValueError("Incomplete or mismatched device response")
+            if response["ok"] and (
+                not isinstance(response.get("result"), dict) or "data" not in response["result"]
+            ):
+                raise ValueError("Device response has no result data")
+            if not response["ok"] and not isinstance(response.get("error"), dict):
+                raise ValueError("Device response has no error details")
+        except Exception as exc:
+            self.close()
+            raise WireError(str(exc), "outcome_unknown", request_id) from exc
+        if action == "wait":
+            with self._motion_lock:
+                self._motions.pop(request_id, None)
+        if not response["ok"]:
+            error = response["error"]
+            raise WireError(
+                error.get("message", str(error)),
+                error.get("code"),
+                request_id,
+                error.get("details"),
+            )
+        self.unloaded = action == "unload"
+        if action == "load":
+            self._motion_error = None
+        data = response["result"]["data"]
+        if "simulation" in response["result"] and isinstance(data, dict):
+            data = {**data, "simulation": response["result"]["simulation"]}
+        if (
+            action == "read"
+            and isinstance(data, dict)
+            and data.get("file")
+            and image_output != "file"
+        ):
+            data = dict(data)
+            for key, target in (("file", "color"), ("depth_file", "depth")):
+                if data.get(key):
+                    file = data.pop(key)
+                    if self.endpoint:
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(Path(file).name)}"
+                        )
+                        raw = self.exchange(self.endpoint, "GET", route)
+                    else:
+                        raw = Path(file).read_bytes()
+                    data[target] = base64.b64encode(raw).decode("ascii")
+        elif self.endpoint and action == "read" and isinstance(data, dict) and data.get("file"):
+            directory = Path(tempfile.mkdtemp(prefix="roboenv-images-"))
+            try:
+                for key in ("file", "depth_file"):
+                    if data.get(key):
+                        name = Path(data[key]).name
+                        route = (
+                            f"/artifacts/{identity['session']}/"
+                            f"{identity['generation']}/{quote(name)}"
+                        )
+                        self.exchange(self.endpoint, "GET", route, destination=directory / name)
+                        data[key] = str(directory / name)
+            except BaseException:
+                shutil.rmtree(directory)
+                raise
+        if self.unloaded:
+            self.close()
+        return data
+
+
+def main(handle, transport):
+    serving = "--serve" in sys.argv
+    can_stop = transport.can_stop if serving else False
+    pools = {}
+    writes = []
+    pending = set()
+    output_lock = threading.Lock()
+    stop_tail = None
+
+    def respond(action, args):
+        try:
+            if not isinstance(action, str) or not isinstance(args, dict):
+                raise ValueError("Expected an action name and an arguments object")
+            return handle(action, args)
+        except Exception as exc:
+            return {"ok": False, "error": str(exc)}
+
+    def terminate(_signum, _frame):
+        raise SystemExit(0)
+
+    def expired(_signum, _frame):
+        raise TimeoutError("Driver cleanup exceeded 500 ms")
+
+    previous = signal.signal(signal.SIGTERM, terminate) if serving else None
+    # Keep the response descriptor private; native SDK writes to fd 1 are logs too.
+    sys.stdout.flush()
+    with os.fdopen(os.dup(sys.stdout.fileno()), "w") as output:
+        os.dup2(sys.stderr.fileno(), sys.stdout.fileno())
+        try:
+            with contextlib.redirect_stdout(sys.stderr):
+                try:
+                    if serving:
+                        pools = {
+                            name: ThreadPoolExecutor(max_workers=count)
+                            for name, count in (
+                                ("read", 8),
+                                ("write", 1),
+                                ("stop", 1),
+                                ("capture", 1),
+                            )
+                        }
+
+                        def send(request, cancel=None, predecessor=None):
+                            transport._local.request_id = request["id"]
+                            if predecessor is not None:
+                                predecessor.result()
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "queued write interrupted by stop"}
+                            else:
+                                result = respond(request["action"], request.get("args", {}))
+                            if cancel is not None and cancel.is_set():
+                                result = {"ok": False, "error": "device write interrupted by stop"}
+                            with output_lock:
+                                output.write(
+                                    json.dumps({**result, "id": request["id"]}, allow_nan=False)
+                                    + "\n"
+                                )
+                                output.flush()
+
+                        for line in sys.stdin:
+                            try:
+                                request = json.loads(line)
+                                if not isinstance(request, dict) or not isinstance(
+                                    request.get("id"), str
+                                ):
+                                    raise ValueError(
+                                        "persistent requests require a string id; "
+                                        "migrate the caller"
+                                    )
+                            except ValueError as error:
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": None, "ok": False, "error": str(error)})
+                                        + "\n"
+                                    )
+                                    output.flush()
+                                break
+                            target = request.get("interrupt")
+                            if isinstance(target, str):
+                                transport.remote(
+                                    "cancel_motion", {"execution_id": f"driver-{target}"}
+                                )
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            if target is True:
+                                for _, event in writes:
+                                    event.set()
+                                if any(not future.done() for future, _ in writes):
+                                    transport.cancel_motions()
+                                with output_lock:
+                                    output.write(
+                                        json.dumps({"id": request["id"], "ok": True}) + "\n"
+                                    )
+                                    output.flush()
+                                continue
+                            action = request["action"]
+                            pending = {future for future in pending if not future.done()}
+                            writes = [
+                                (future, event) for future, event in writes if not future.done()
+                            ]
+                            if action in {"stop", "unload"}:
+                                for _, event in writes:
+                                    event.set()
+                            if action in {"load", "unload"}:
+                                if (
+                                    action == "unload"
+                                    and can_stop
+                                    and any(not future.done() for future, _ in writes)
+                                ):
+                                    respond("stop", {})
+                                if action == "unload":
+                                    transport.cancel_motions()
+                                wait(pending)
+                                send(request)
+                                continue
+                            kind = (
+                                "read"
+                                if action in {"read", "wait", "status", "fk", "ik"}
+                                else "stop"
+                                if action == "stop"
+                                else "capture"
+                                if action in {"record_start", "record_stop"}
+                                else "write"
+                            )
+                            cancel = (
+                                threading.Event() if kind == "write" or action == "wait" else None
+                            )
+                            future = pools[kind].submit(
+                                send, request, cancel, stop_tail if kind == "write" else None
+                            )
+                            if kind == "stop":
+                                stop_tail = future
+                            pending.add(future)
+                            if cancel is not None:
+                                writes.append((future, cancel))
+                        wait(pending - {future for future, _ in writes})
+                        return
+                    action = sys.argv[1] if len(sys.argv) > 1 else "read"
+                    args = json.loads(sys.argv[2]) if len(sys.argv) > 2 else {}
+                    output.write(json.dumps(respond(action, args), allow_nan=False) + "\n")
+                    output.flush()
+                finally:
+                    for _, event in writes:
+                        event.set()
+                    if serving:
+                        signal.signal(signal.SIGTERM, signal.SIG_IGN)
+                        alarm = signal.signal(signal.SIGALRM, expired)
+                        transport.deadline = time.monotonic() + 0.5
+                        signal.setitimer(signal.ITIMER_REAL, 0.5)
+                        try:
+                            if transport.used and not transport.unloaded:
+                                transport.cancel_motions()
+                        except Exception as exc:
+                            print(str(exc), file=sys.stderr)
+                        finally:
+                            signal.setitimer(signal.ITIMER_REAL, 0)
+                            signal.signal(signal.SIGALRM, alarm)
+                    transport.close_all()
+                    for pool in pools.values():
+                        pool.shutdown(wait=True, cancel_futures=True)
+        finally:
+            os.dup2(output.fileno(), sys.stdout.fileno())
+            if serving:
+                signal.signal(signal.SIGTERM, previous)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..9640c25240a7363843db1e352b454bcab9ba2a9c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "57d79078b18c1731", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..1b14c538ba45789fb1cb30c1ac736bb6a0e58760
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/driver.py
@@ -0,0 +1,29 @@
+"""Generic remote device adapter; transport and dialog are shared with typed drivers."""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__, device=Path(__file__).parent.name)
+remote = transport.remote
+
+
+def handle(action, args):
+    try:
+        if action == "unload" and transport.can_stop:
+            stopped = remote("stop", {})
+            if stopped.get("stopped") is not True:
+                raise ValueError("Remote device did not acknowledge stop")
+        data = remote(action, args)
+        return {**(data if isinstance(data, dict) else {"result": data}), "ok": True}
+    except WireError as exc:
+        return {"ok": False, "error": str(exc), "code": exc.code, "request_id": exc.request_id}
+    except Exception as exc:
+        return {"ok": False, "error": str(exc)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/intrinsics.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/intrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd5959e162e4a1223c57d6698ad146482093649
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/intrinsics.json
@@ -0,0 +1,1314 @@
+{
+  "instrument": {
+    "asset_id": "instrument.mt_xpr204e",
+    "catalog_id": "CHEM-001",
+    "domain": "Basic Metrology & Sample Handling",
+    "manufacturer": "METTLER TOLEDO",
+    "model": "XPR204E",
+    "name": "Analytical balance",
+    "release": "a6c006f921c9bee62f5585dd7f769163a7f51573",
+    "size_m": [
+      0.209,
+      0.4604,
+      0.339
+    ],
+    "state_slots": {
+      "adjustment.last": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "object"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "adjustment.settings": {
+        "unit": "1",
+        "value_schema": {
+          "type": "object"
+        }
+      },
+      "balance.calibrated": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "balance.display_unit": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "kg",
+            "g"
+          ],
+          "type": "string"
+        }
+      },
+      "balance.filter_level": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "Low",
+            "Medium",
+            "High"
+          ],
+          "type": "string"
+        }
+      },
+      "balance.gross_kg": {
+        "unit": "kg",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "kg"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "balance.net_kg": {
+        "unit": "kg",
+        "value_schema": {
+          "anyOf": [
+            {
+              "type": "number",
+              "x-unit": "kg"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      },
+      "balance.stability_elapsed_s": {
+        "unit": "s",
+        "value_schema": {
+          "minimum": 0,
+          "type": "number",
+          "x-unit": "s"
+        }
+      },
+      "balance.stable": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "balance.status": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "OFF",
+            "PAN_REMOVED",
+            "PAN_UNLATCHED",
+            "TRANSPORT_LOCKED",
+            "OVERLOAD",
+            "UNDERLOAD",
+            "UNSTABLE",
+            "STABLE"
+          ],
+          "type": "string"
+        }
+      },
+      "balance.synthetic": {
+        "unit": "1",
+        "value_schema": {
+          "const": true,
+          "type": "boolean"
+        }
+      },
+      "balance.tare_kg": {
+        "unit": "kg",
+        "value_schema": {
+          "type": "number",
+          "x-unit": "kg"
+        }
+      },
+      "balance.task_ready": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "device.blocked": {
+        "unit": "1",
+        "value_schema": {
+          "type": "boolean"
+        }
+      },
+      "device.datetime": {
+        "unit": "1",
+        "value_schema": {
+          "pattern": "^\\d{4}-\\d{2}-\\d{2}T\\d{2}:\\d{2}:\\d{2}$",
+          "type": "string"
+        }
+      },
+      "device.language": {
+        "unit": "1",
+        "value_schema": {
+          "enum": [
+            "English",
+            "Deutsch",
+            "Fran\u00e7ais",
+            "\u65e5\u672c\u8a9e",
+            "\u4e2d\u6587",
+            "Espa\u00f1ol",
+            "Italiano",
+            "\u0420\u0443\u0441\u0441\u043a\u0438\u0439",
+            "Portugu\u00eas",
+            "Polski",
+            "Magyar",
+            "\u010ce\u0161tina"
+          ],
+          "type": "string"
+        }
+      },
+      "device.messages": {
+        "unit": "1",
+        "value_schema": {
+          "items": {
+            "additionalProperties": false,
+            "properties": {
+              "acknowledged": {
+                "type": "boolean"
+              },
+              "action": {
+                "anyOf": [
+                  {
+                    "type": "string"
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              },
+              "id": {
+                "type": "string"
+              },
+              "key": {
+                "type": "string"
+              },
+              "level": {
+                "enum": [
+                  "info",
+                  "warning",
+                  "error"
+                ],
+                "type": "string"
+              },
+              "text": {
+                "type": "string"
+              },
+              "time": {
+                "anyOf": [
+                  {
+                    "type": "string"
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              }
+            },
+            "required": [
+              "id",
+              "key",
+              "level",
+              "text",
+              "action",
+              "time",
+              "acknowledged"
+            ],
+            "type": "object"
+          },
+          "type": "array"
+        }
+      },
+      "device.settings": {
+        "unit": "1",
+        "value_schema": {
+          "additionalProperties": false,
+          "minProperties": 0,
+          "properties": {
+            "bluetooth.activation": {
+              "enum": [
+                "Inactive",
+                "Active"
+              ],
+              "type": "string"
+            },
+            "door_left.automatic": {
+              "type": "boolean"
+            },
+            "door_left.devices": {
+              "type": "boolean"
+            },
+            "door_left.drive_mode": {
+              "enum": [
+                "Motorized",
+                "Manual"
+              ],
+              "type": "string"
+            },
+            "door_left.key_left": {
+              "type": "boolean"
+            },
+            "door_left.key_right": {
+              "type": "boolean"
+            },
+            "door_left.opening": {
+              "maximum": 100,
+              "minimum": 1,
+              "type": "integer",
+              "x-unit": "%"
+            },
+            "door_right.automatic": {
+              "type": "boolean"
+            },
+            "door_right.devices": {
+              "type": "boolean"
+            },
+            "door_right.drive_mode": {
+              "enum": [
+                "Motorized",
+                "Manual"
+              ],
+              "type": "string"
+            },
+            "door_right.key_left": {
+              "type": "boolean"
+            },
+            "door_right.key_right": {
+              "type": "boolean"
+            },
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+            "dosing.label_copies": {
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+              "minimum": 1,
+              "type": "integer",
+              "x-unit": "1"
+            },
+            "dosing.label_template": {
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+                "5 large fields",
+                "5 small fields",
+                "10 small fields",
+                "1D barcode with 3 large fields",
+                "1D barcode with 3 small fields",
+                "1D barcode with 6 small fields",
+                "2D barcode with 5 large fields",
+                "2D barcode with 5 small fields",
+                "2D barcode with 2 large fields and 6 small fields",
+                "2D barcode with 8 small fields"
+              ],
+              "type": "string"
+            },
+            "dosing.pressure_hold": {
+              "maximum": 180,
+              "minimum": 1,
+              "type": "integer",
+              "x-unit": "min"
+            },
+            "ethernet.dns1": {
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+              "pattern": "^(25[0-5]|2[0-4]\\d|1?\\d?\\d)(\\.(25[0-5]|2[0-4]\\d|1?\\d?\\d)){3}$",
+              "type": "string"
+            },
+            "ethernet.dns2": {
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+              "minLength": 7,
+              "pattern": "^(25[0-5]|2[0-4]\\d|1?\\d?\\d)(\\.(25[0-5]|2[0-4]\\d|1?\\d?\\d)){3}$",
+              "type": "string"
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+            "ethernet.gateway": {
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+              "minLength": 7,
+              "pattern": "^(25[0-5]|2[0-4]\\d|1?\\d?\\d)(\\.(25[0-5]|2[0-4]\\d|1?\\d?\\d)){3}$",
+              "type": "string"
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+              "minLength": 1,
+              "type": "string"
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+              "minLength": 7,
+              "pattern": "^(25[0-5]|2[0-4]\\d|1?\\d?\\d)(\\.(25[0-5]|2[0-4]\\d|1?\\d?\\d)){3}$",
+              "type": "string"
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+            "ethernet.network": {
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+                "DHCP",
+                "Manual"
+              ],
+              "type": "string"
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+            "ethernet.subnet": {
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+              "minLength": 7,
+              "pattern": "^(25[0-5]|2[0-4]\\d|1?\\d?\\d)(\\.(25[0-5]|2[0-4]\\d|1?\\d?\\d)){3}$",
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+              "minLength": 0,
+              "pattern": "^[A-Za-z0-9]*$",
+              "type": "string"
+            },
+            "general.export_directory": {
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+                "USB storage device",
+                "File server"
+              ],
+              "type": "string"
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+            "general.standby": {
+              "type": "boolean"
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+            "general.standby_wait": {
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+              "minimum": 0,
+              "type": "integer",
+              "x-unit": "min"
+            },
+            "general.update_on_startup": {
+              "type": "boolean"
+            },
+            "output.date": {
+              "type": "boolean"
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+            "output.decimal_delimiter": {
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+                "."
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+                "CR",
+                "LF",
+                "TAB",
+                "None",
+                "Enter"
+              ],
+              "type": "string"
+            },
+            "output.field_delimiter": {
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+                "Space",
+                "TAB",
+                ",",
+                ";"
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+              "type": "string"
+            },
+            "output.format": {
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+                "MT-SICS",
+                "PM",
+                "AT/MT"
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+              "type": "string"
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+            "output.mode": {
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+                "Results",
+                "Continuous"
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+              "type": "string"
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+            "output.net_indicator": {
+              "type": "boolean"
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+            "output.net_indicator_length": {
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+              "minimum": 1,
+              "type": "integer",
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+            "output.result_id_2": {
+              "type": "boolean"
+            },
+            "output.sign": {
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+                "For all values",
+                "For negative values"
+              ],
+              "type": "string"
+            },
+            "output.sign_position": {
+              "enum": [
+                "Left of weight field",
+                "Left of weight digits"
+              ],
+              "type": "string"
+            },
+            "output.target": {
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+                "HID",
+                "HID / MT-SICS",
+                "MT-SICS",
+                "MT-SICS configurable"
+              ],
+              "type": "string"
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+            "output.time": {
+              "type": "boolean"
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+            "output.unit": {
+              "type": "boolean"
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+            "output.unit_field_length": {
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+              "minimum": 1,
+              "type": "integer",
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+                5,
+                6,
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+                "Forced leveling"
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+                "D.MMM.YYYY",
+                "MMM D YYYY",
+                "DD.MM.YYYY",
+                "MM/DD/YYYY",
+                "YYYY-MM-DD",
+                "YYYY/MM/DD",
+                "YYYY\u5e74M\u6708D\u65e5"
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+                "German",
+                "French",
+                "Spanish",
+                "Japanese",
+                "Simplified Chinese",
+                "Russian",
+                "Czech",
+                "Polish",
+                "Hungarian"
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+                "Deutsch",
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+                "\u65e5\u672c\u8a9e",
+                "\u4e2d\u6587",
+                "Espa\u00f1ol",
+                "Italiano",
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+                "Portugu\u00eas",
+                "Polski",
+                "Magyar",
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+            "rights": {
+              "additionalProperties": false,
+              "properties": {
+                "block_unblock": {
+                  "type": "boolean"
+                },
+                "cancel_task": {
+                  "type": "boolean"
+                },
+                "configure_methods": {
+                  "type": "boolean"
+                },
+                "configure_system": {
+                  "type": "boolean"
+                },
+                "configure_tests": {
+                  "type": "boolean"
+                },
+                "configure_users": {
+                  "type": "boolean"
+                },
+                "exclude_overwrite": {
+                  "type": "boolean"
+                },
+                "execute_service": {
+                  "type": "boolean"
+                },
+                "show_change_history": {
+                  "type": "boolean"
+                },
+                "start_external_adjustment": {
+                  "type": "boolean"
+                },
+                "start_tests": {
+                  "type": "boolean"
+                }
+              },
+              "required": [
+                "block_unblock",
+                "configure_methods",
+                "exclude_overwrite",
+                "cancel_task",
+                "configure_system",
+                "configure_users",
+                "execute_service",
+                "start_external_adjustment",
+                "show_change_history",
+                "configure_tests",
+                "start_tests"
+              ],
+              "type": "object"
+            },
+            "unblocking_password_set": {
+              "type": "boolean"
+            },
+            "users": {
+              "items": {
+                "type": "object"
+              },
+              "type": "array"
+            }
+          },
+          "required": [
+            "management",
+            "current_user",
+            "logged_in",
+            "rights",
+            "users",
+            "groups",
+            "unblocking_password_set",
+            "block_reason",
+            "block_id"
+          ],
+          "type": "object"
+        }
+      },
+      "weighing.pending": {
+        "unit": "1",
+        "value_schema": {
+          "anyOf": [
+            {
+              "enum": [
+                "zero",
+                "tare",
+                "capture"
+              ],
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ]
+        }
+      }
+    }
+  },
+  "source": "user"
+}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b14c3bfde51787ab3376b958a17ebe7d372e41a7
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/instrument/profile.yaml
@@ -0,0 +1,100 @@
+name: instrument
+type: other
+intrinsics:
+  source: user
+extrinsics:
+  calibrated_at: null
+  method: manual
+  mount:
+    parent: world
+    parent_frame: world
+    rotation_xyzw:
+    - 0
+    - 0
+    - 0
+    - 1
+    translation_m:
+    - 0
+    - 0
+    - 0
+  source: user
+meta:
+  created_at: '2026-10-23T06:09:08.282336+00:00'
+  updated_at: '2026-10-23T06:09:08.282336+00:00'
+access:
+  source: user
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: instrument
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - adjustment_configure
+    - adjustment_start
+    - balance_block
+    - balance_calibrate_span
+    - balance_reading
+    - balance_request
+    - balance_set_display_unit
+    - balance_set_filter
+    - balance_tare
+    - balance_zero
+    - clock_set
+    - density_start
+    - display_set_unit
+    - door_key
+    - door_operate
+    - group_delete
+    - group_save
+    - load
+    - maintenance_reset
+    - message_acknowledge
+    - method_clone
+    - method_configure
+    - method_create
+    - method_delete
+    - method_item_delete
+    - method_item_save
+    - method_save_itemized
+    - method_start
+    - panel_capture
+    - panel_press
+    - panel_touch
+    - pcs_set_reference
+    - power_set
+    - procedure_cancel
+    - procedure_complete
+    - procedure_confirm
+    - procedure_select_weight
+    - profile_delete
+    - profile_save
+    - profile_set_default
+    - read
+    - scene_set_door
+    - scene_set_pan
+    - session_login
+    - session_logout
+    - settings_configure
+    - standby_set
+    - status
+    - task_add_result
+    - task_cancel
+    - task_complete
+    - task_delete
+    - task_exclude_result
+    - task_set_id
+    - test_configure
+    - test_create
+    - test_delete
+    - test_start
+    - test_weight_delete
+    - test_weight_save
+    - test_weight_save_combined
+    - unblocking_password_set
+    - unload
+    - user_delete
+    - user_management_set
+    - user_save
+    - user_set_password
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/connection.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/connection.json
new file mode 100644
index 0000000000000000000000000000000000000000..9640c25240a7363843db1e352b454bcab9ba2a9c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/connection.json
@@ -0,0 +1 @@
+{"endpoint": "http://sim:8123", "session": "57d79078b18c1731", "generation": 0}
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/driver.py b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/driver.py
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd94061b26ce7bffb5a4862b68dc7e4561c5b4
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/driver.py
@@ -0,0 +1,27 @@
+"""World read returns time_s and optional budget {used_s, max_s}.
+Wait returns time_s and waited_s; transport preserves clock precision.
+"""
+
+import sys
+from pathlib import Path
+
+sys.dont_write_bytecode = True
+sys.path.insert(0, str(Path(__file__).resolve().parent.parent))
+from _roboenv import Transport, WireError, main  # noqa: E402
+
+transport = Transport(__file__)
+
+
+def handle(action, args):
+    try:
+        if action not in {"read", "wait", "load", "unload", "status"}:
+            raise ValueError(f"Unsupported world action: {action}")
+        return {"ok": True, **transport.remote(action, args)}
+    except WireError as error:
+        return {"ok": False, "error": str(error), "code": error.code}
+    except Exception as error:
+        return {"ok": False, "error": str(error)}
+
+
+if __name__ == "__main__":
+    main(handle, transport)
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/profile.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/profile.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..31ab09c73bd4dd66c2215f9cd71ea3d4d3af68f3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/devices/world/profile.yaml
@@ -0,0 +1,28 @@
+name: world
+type: world
+intrinsics:
+  bounds: null
+  calibrated_at: null
+  method: manual
+  source: user
+  surfaces: []
+meta:
+  created_at: '2026-10-23T06:09:08.287121+00:00'
+  updated_at: '2026-10-23T06:09:08.287121+00:00'
+access:
+  source: user
+  method: unknown
+  calibrated_at: null
+  connection:
+    kind: url
+    url: http://sim:8123
+    device: world
+  driver:
+    entry: driver.py
+    persistent: true
+    actions:
+    - load
+    - read
+    - status
+    - unload
+    - wait
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/memos/chemlab-balance.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/memos/chemlab-balance.md
new file mode 100644
index 0000000000000000000000000000000000000000..1b6715d1292a5ffb6800031ce002cb2cf759590f
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/memos/chemlab-balance.md
@@ -0,0 +1,8 @@
+# ChemLab analytical balance power
+
+- Inspect `roboenv describe --endpoint "$ROBOENV_ENDPOINT"`, device profiles, and initial instrument read. Public action schemas are in `roboenv devices` (large JSON; filter `devices[].actions` to relevant actions).
+- Power command: Kinex `device('instrument', 'power_set', {'enabled': True})`. No robot motion or calibration is required for the power-only task with an installed pan and closed doors.
+- Read feedback under `observations`: each dotted slot has `value`, `quality`, `sample_time_s`. Relevant slots: power.enabled, balance.status, balance.stable, balance.stability_elapsed_s, balance.net_kg, balance.task_ready.
+- Wait with world.wait in simulation seconds. Do not assume command acceptance proves stability. Prefer bounded polling until stable, then hold at least one further simulation second and reread, unless episode terminates first.
+- Observed power-only episode: readings briefly remained UNSTABLE with stability_elapsed_s=1.5 and net_kg=0, then episode auto-terminated successfully. Do not infer failure from those transient observations or unnecessarily change filters/calibration.
+- If a device reports episode_finished, inspect `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json`, then always retrieve final judgment using `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json`. Status alone does not report success. Final stop confirmed success in the observed power-only episode.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/workspace.yaml b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/workspace.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d9f590b55b7e0b2cd2b76f94c502d3dda10c7a6a
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/.kinex/workspace.yaml
@@ -0,0 +1,21 @@
+identity:
+  source: user
+  id: isaaclab-chemlab-instruments
+  name: ChemLab instrument workstation
+  platform: sim
+  kind: other
+  model: No robot; instrument command interface
+sim:
+  source: user
+  simulator: isaaclab
+  notes: Use read for sensor observations and declared instrument commands for operations.
+    World wait advances all instruments. No owner state, reset, or evaluator commands
+    are public.
+devices:
+  source: user
+safety:
+  source: user
+  notes: Follow instruction.md for task-specific limits.
+meta:
+  created_at: '2026-10-02T07:16:00Z'
+  updated_at: '2026-10-02T07:16:00Z'
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/instruction.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/instruction.md
new file mode 100644
index 0000000000000000000000000000000000000000..abb61ef86c28fc690878d533922808dcd5e97eee
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/04-balance-power/workspace/instruction.md
@@ -0,0 +1,55 @@
+# Task: isaaclab/chemlab-balance-power
+
+Power on the analytical balance and obtain a stable reading for one simulation second.
+
+## Work to do
+
+Solve the task efficiently. The simulation is already running.
+Follow the task instruction above, including its completion requirements.
+Use `roboenv describe --endpoint "$ROBOENV_ENDPOINT"` to inspect the environment
+and public task context. Its native instruction is reference text; the task
+instruction above already includes this episode's required assignments.
+Reuse your saved tools, skills, and memos.
+
+## Limits
+
+You have no limit on native action frames. Execution mode is `realtime`: the environment advances continuously, including while you reason or read. Use the exported public device interfaces to control the instruments and inspect measured feedback. Sending a command does not prove that its target has been reached. Device stop affects only its declared scope. The safety timeout is
+28800 seconds, including updates to saved resources.
+Do not launch or reset a simulation.
+
+
+
+## Completion
+
+Use `roboenv status --endpoint "$ROBOENV_ENDPOINT" --json` to check the simulation
+state and remaining budget. It does not report success or failure. When finished,
+call `roboenv stop --endpoint "$ROBOENV_ENDPOINT" --json` to finalize the attempt
+and receive the final judgment. Stopping does not grant a retry. If the simulation
+has already terminated, use the same stop command to retrieve its final judgment.
+
+## Saved resources
+
+Maintain reusable code in `.kinex/tools/`, skills in `.kinex/skills/`, and concise working notes
+in `.kinex/memos/`. Improve existing files in place as you learn, replacing outdated
+content. Create a new file only when no existing resource fits; do not create
+per-attempt reflections or numbered copies. These files persist across fresh
+conversations. Update them before finishing your response.
+
+## Robot and device access
+
+The robot is **No robot; instrument command interface**, running in **isaaclab**.
+
+| Device | Type |
+|---|---|
+| `instrument` | other |
+| `world` | world |
+
+Work in `/workspace`. Use the registered devices in `.kinex/devices/`
+and the robot specification in `.kinex/workspace.yaml`.
+The Kinex adapter installs and refreshes these resources
+for the current episode. Use Kinex's device tools and profiles for action schemas,
+units, frames, and feedback. Device `stop` follows its declared affected-device
+scope; `roboenv stop --endpoint "$ROBOENV_ENDPOINT"` finalizes the assigned simulation
+and returns its final judgment.
+Improve existing tools, skills, and memos in place.
+
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/README.md b/model-evaluations/gpt-6-astra-high-seed0-20261023/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..abda32767b9c8db9129862ef2f34c5959f2c17d9
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/README.md
@@ -0,0 +1,18 @@
+# Kinex + GPT-6 Astra: four ChemLab instrument tasks
+
+Four independent seed-0 attempts through RLE-Bench and RoboEnv, using `openai-codex/gpt-6-astra`, high reasoning effort, default service tier, SSE and complete provider usage accounting. Each task uses a fresh session, realtime instrument control, no native frame limit and the existing 28,800-second safety timeout. There are no task retries. The separate provider preflight is excluded from formal usage totals.
+
+These are four authored RoboEnv integration tasks. The agent discovers public instrument interfaces and decides which commands to issue; there is no robot. This does not establish 203-task coverage, support for unpublished Matterix dependencies, multi-seed reliability, or RSI gains. Instrument process state determines the native verdict. The water-activity instrument has static original LCD digits with a dynamic runtime readout overlay.
+
+| Task | Native result | Model responses | Instrument commands | Native frames | Simulation seconds |
+|---|---|---:|---:|---:|---:|
+| Hood light, sash & airflow | success | 19 | 3 | 556 | 55.6 |
+| Chamber temperature | success | 18 | 2 | 2040 | 204.0 |
+| Stirring speed | success | 20 | 3 | 558 | 55.8 |
+| Stable balance reading | success | 14 | 1 | 307 | 30.7 |
+
+Each task directory contains the complete public model session and tool I/O, provider usage audit, generated instruction, original task definition, native initialization and terminal state, owner journal, captured workspace, result analysis and video checks. Combined videos horizontally join the original overview and instrument screen, preserving frame rate, frame count and duration. Command replay is a separate verification of initialization, commands, terminal state, verdict and rendered scene bindings; it is not physical per-frame state restoration.
+
+Raw originals, archives, intermediate streams and runtime caches are retained locally. Public copies remove host-local paths; original and published hashes are recorded in `public-copy-transformations.json`. Credentials and caches are excluded. Source/asset identities and image audits are under `provenance/`; the model index is `index.json`. Earlier scripted acceptance and all existing asset evidence remain unchanged at their original paths.
+
+Sources: [RLE implementation PR](https://github.com/stacx-lab/RLE-Bench-inhouse/pull/6), [RoboEnv integration PR](https://github.com/stacx-lab/RoboEnv/pull/114), [ChemLab assets](https://huggingface.co/datasets/MBZUAI/ChemLab-Assets). Asset notices remain with the original asset dataset; this report does not relicense code or assets.
diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/index.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/index.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c2c2dd0b84bd37a4d6a50b0211c064daf098d4c
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/index.json
@@ -0,0 +1,1254 @@
+{
+  "schema": "chemlab/model-evaluation/1",
+  "model": "openai-codex/gpt-6-astra",
+  "reasoning_effort": "high",
+  "service_tier": "default",
+  "transport": "sse",
+  "execution_mode": "realtime",
+  "seed": 0,
+  "attempts_per_task": 1,
+  "task_retries": 0,
+  "concurrency": 1,
+  "native_frame_limit": null,
+  "safety_timeout_seconds": 28800,
+  "tasks": [
+    {
+      "slug": "01-hood-light-sash",
+      "task": "isaaclab/chemlab-hood-light-sash",
+      "title": "Hood light, sash & airflow",
+      "instruction": "Turn on the hood light and fan, and set sash height to 0.457 m. Hold these settings with the monitor indicating safe airflow for one simulation second.",
+      "original_instruction": true,
+      "seed": 0,
+      "attempt": 1,
+      "native_success": true,
+      "evidence_valid": true,
+      "execution": {
+        "reason": null,
+        "status": "finished"
+      },
+      "frames": 556,
+      "simulation_seconds": 55.60000000000052,
+      "simulation_time_source": "native recording manifest (simulation clock)",
+      "agent_wall_seconds": 78.423565,
+      "started_at": "2026-10-23T05:53:48.976919+00:00",
+      "completed_at": "2026-10-23T05:57:16.396601+00:00",
+      "goals": [
+        {
+          "equals": true,
+          "instrument": "instrument",
+          "state": "light.on",
+          "initial": false,
+          "final": true,
+          "unit": "1",
+          "initial_satisfied": false,
+          "final_satisfied": true
+        },
+        {
+          "instrument": "instrument",
+          "max": 0.458,
+          "min": 0.456,
+          "state": "sash.height_m",
+          "initial": 0.0,
+          "final": 0.457,
+          "unit": "m",
+          "initial_satisfied": false,
+          "final_satisfied": true
+        },
+        {
+          "equals": true,
+          "instrument": "instrument",
+          "state": "fan.on",
+          "initial": false,
+          "final": true,
+          "unit": "1",
+          "initial_satisfied": false,
+          "final_satisfied": true
+        },
+        {
+          "equals": true,
+          "instrument": "instrument",
+          "state": "lamp.lit",
+          "initial": false,
+          "final": true,
+          "unit": "1",
+          "initial_satisfied": false,
+          "final_satisfied": true
+        },
+        {
+          "equals": true,
+          "instrument": "instrument",
+          "state": "indicator.safe",
+          "initial": true,
+          "final": true,
+          "unit": "1",
+          "initial_satisfied": true,
+          "final_satisfied": true
+        }
+      ],
+      "commands": [
+        {
+          "arguments": {
+            "on": true
+          },
+          "capability": "fan.set",
+          "frame": 503,
+          "instrument": "instrument",
+          "status": "succeeded"
+        },
+        {
+          "arguments": {
+            "on": true
+          },
+          "capability": "light.set",
+          "frame": 522,
+          "instrument": "instrument",
+          "status": "succeeded"
+        },
+        {
+          "arguments": {
+            "height_m": 0.457,
+            "hold": true
+          },
+          "capability": "sash.set",
+          "frame": 546,
+          "instrument": "instrument",
+          "status": "succeeded"
+        }
+      ],
+      "dwell_s": 1.0,
+      "model_responses": 19,
+      "model_tool_calls": 23,
+      "model_tool_calls_by_name": {
+        "bash": 5,
+        "device": 6,
+        "ls": 5,
+        "read": 6,
+        "write": 1
+      },
+      "owner_rpc_attempts": 18,
+      "owner_operations": {
+        "devices.list": 2,
+        "simulation.status": 3,
+        "observe": 1,
+        "environment.describe": 2,
+        "devices.call": 8,
+        "devices.describe": 1,
+        "simulation.stop": 1
+      },
+      "usage": {
+        "accounting": "reported-responses",
+        "audit_complete": true,
+        "audit_source": "Provider terminal response usage",
+        "cache_hit_rate": 0.9263147720820094,
+        "cache_read_input_tokens": 306688,
+        "cache_reported_input_tokens": 331084,
+        "cache_write_basis": "provider-reported",
+        "cache_write_input_tokens": 0,
+        "cache_write_reported_input_tokens": 331084,
+        "cached_input_tokens": 306688,
+        "cost_usd": null,
+        "fresh_input_tokens": 24396,
+        "harbor_mismatches": {},
+        "input_breakdown_complete": true,
+        "input_tokens": 331084,
+        "known_cache_write_input_tokens": 0,
+        "known_cached_input_tokens": 306688,
+        "known_fresh_input_tokens": 24396,
+        "known_input_tokens": 331084,
+        "known_output_tokens": 1047,
+        "known_reasoning_output_tokens": 27,
+        "output_tokens": 1047,
+        "parser": "harbor/0.22.0",
+        "reasoning_output_tokens": 27,
+        "reasoning_reported_output_tokens": 1047,
+        "rejected_attempts": 0,
+        "reported_responses": {
+          "cache_reported_input_tokens": 19,
+          "cache_write_input_tokens": 19,
+          "cache_write_reported_input_tokens": 19,
+          "cached_input_tokens": 19,
+          "fresh_input_tokens": 19,
+          "input_tokens": 19,
+          "output_tokens": 19,
+          "reasoning_output_tokens": 19,
+          "reasoning_reported_output_tokens": 19
+        },
+        "request_attempts": 19,
+        "response_count": 19,
+        "response_ids_complete": true,
+        "schema": "rlebench/token-usage/1",
+        "source": "Harbor session metrics",
+        "total_tokens": 332131,
+        "uncached_input_tokens": 24396,
+        "unresolved_attempts": [],
+        "usage_records": [
+          {
+            "cache_write_input_tokens": 0,
+            "cached_input_tokens": 0,
+            "input_tokens": 12443,
+            "output_tokens": 47,
+            "reasoning_output_tokens": 0
+          },
+          {
+            "cache_write_input_tokens": 0,
+            "cached_input_tokens": 12288,
+            "input_tokens": 12873,
+            "output_tokens": 20,
+            "reasoning_output_tokens": 0
+          },
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+        "summary_zh": "模型开启电源并设定 303.15 K，随后轮询温度、等待升温。结束读数为 302.66 K，进入原任务规定的 ±0.5 K 容差并满足保持条件。原始 LCD 含静态数字；动态温度来自 runtime 读数叠层，详情提供独立读数录像。此任务检查温控响应与等待策略，不能据此证明真实化学过程精度。"
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index 0000000000000000000000000000000000000000..eaa653c09282bd48634e13d0acbc082e3a6313cc
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/provenance/run-preview.json
@@ -0,0 +1,99 @@
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diff --git a/model-evaluations/gpt-6-astra-high-seed0-20261023/provenance/simulator/deployment.json b/model-evaluations/gpt-6-astra-high-seed0-20261023/provenance/simulator/deployment.json
new file mode 100644
index 0000000000000000000000000000000000000000..8413c6f28a53e11d052e31a725531457eef04fc3
--- /dev/null
+++ b/model-evaluations/gpt-6-astra-high-seed0-20261023/provenance/simulator/deployment.json
@@ -0,0 +1,18 @@
+{
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+  "mounts": [],
+  "environment": {
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new file mode 100644
index 0000000000000000000000000000000000000000..398ca92939612cd9e15f52446e270db1c7ee37ba
--- /dev/null
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