演示时修改的部分代码

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -61,6 +61,7 @@ class TransferLiquidReturn(TypedDict):
 
 
 class LiquidHandlerMiddleware(LiquidHandler):
+    _ros_node: ROS2DeviceNode
     def __init__(
         self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
     ):
@@ -79,6 +80,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
         super().__init__(backend, deck)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+        if getattr(self, "_simulator", False) and getattr(self, "_simulate_handler", None) is not None:
+            self._simulate_handler._ros_node = ros_node
+
     async def setup(self, **backend_kwargs):
         if self._simulator:
             return await self._simulate_handler.setup(**backend_kwargs)
@@ -152,6 +158,14 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": tip_spots})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"pick_up_tips {tip_spots} 超时")
+                    break
+                time.sleep(0.01)
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
 
     async def drop_tips(
@@ -360,6 +374,16 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 EXTRA_SAMPLE_UUID: sample_uuid_value,
                 "volume": volume,
             }
+
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": resources})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"aspirate {resources} 超时")
+                    break
+                time.sleep(0.01)
+
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
 
     async def dispense(
@@ -495,6 +519,15 @@ class LiquidHandlerMiddleware(LiquidHandler):
             res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
             res_volumes.append(volume)
 
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": resources})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"dispense {resources} 超时")
+                    break
+                time.sleep(0.01)
+
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
 
     async def transfer(
@@ -880,7 +913,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         super().__init__(backend_type, deck, simulator, channel_num, total_height=total_height, **kwargs)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
-        self._ros_node = ros_node
+        super().post_init(ros_node)
         ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
             "resources": [self.deck]
         })
@@ -1036,13 +1069,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             well.set_liquids([(liquid_name, safe_volume)])  # type: ignore
             res_volumes.append(safe_volume)
 
-        task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
-        submit_time = time.time()
-        while not task.done():
-            if time.time() - submit_time > 10:
-                self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
-                break
-            time.sleep(0.01)
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
+                    break
+                time.sleep(0.01)
 
         return SetLiquidFromPlateReturn(
             plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
@@ -1449,6 +1483,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
+        pre_aspirate_from_target: Optional[float] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
         """Transfer liquid with automatic mode detection.
@@ -1600,6 +1635,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i, wrap=False)
                 if delays is not None:
                     kwargs['delays'] = safe_get(delays, i)
+                if pre_aspirate_from_target is not None:
+                    kwargs['pre_aspirate_from_target'] = safe_get(pre_aspirate_from_target, i)
 
                 cur_source = sources[i % num_sources]
                 cur_target = targets[i % num_targets]
@@ -1659,6 +1696,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_rate = kwargs.get('mix_rate')
         mix_liquid_height = kwargs.get('mix_liquid_height')
         delays = kwargs.get('delays')
+        pre_aspirate_from_target = kwargs.get('pre_aspirate_from_target')
 
         tip = []
         if pick_up:

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -149,6 +149,40 @@ class PRCXI9300Deck(Deck):
         pos = self.sites[idx]["position"]
         return Coordinate(pos["x"], pos["y"], pos["z"])
 
+    def get_slot_location(self, slot: Union[int, str]) -> Coordinate:
+        """根据 slot 标识返回该 slot 的坐标。
+
+        支持的输入：
+        - int: 1-based slot 序号（与 ``assign_child_at_slot`` 一致），1 → sites[0]
+        - str: 纯数字字符串 ``"3"``，或带前缀的 label ``"T3"``（不区分大小写）
+
+        Raises:
+            ValueError: slot 解析失败或越界
+        """
+        idx: Optional[int] = None
+        if isinstance(slot, int):
+            idx = slot - 1
+        elif isinstance(slot, str):
+            s = slot.strip()
+            if not s:
+                raise ValueError(f"空 slot 标识")
+            digits = s[1:] if s[0].isalpha() else s
+            try:
+                idx = int(digits) - 1
+            except ValueError:
+                # 退而求其次：直接按 label 全等匹配
+                for i, site in enumerate(self.sites):
+                    if site.get("label") == s:
+                        idx = i
+                        break
+        if idx is None:
+            raise ValueError(f"无法解析 slot 标识: {slot!r}")
+        if idx < 0 or idx >= len(self.sites):
+            raise ValueError(
+                f"slot {slot!r} 超出范围 [1, {len(self.sites)}] (解析为 idx={idx})"
+            )
+        return self._get_site_location(idx)
+
     def _get_site_resource(self, idx: int) -> Optional[Resource]:
         site_loc = self._get_site_location(idx)
         for child in self.children:
@@ -444,7 +478,7 @@ class PRCXI9300Trash(Trash):
 
         if name != "trash":
             print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
-        super().__init__(name, size_x, size_y, size_z, **kwargs)
+        super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
         self._unilabos_state = {}
         # 初始化时注入 UUID
         if material_info:
@@ -533,12 +567,16 @@ class PRCXI9300TubeRack(TubeRack):
 
         # 根据情况传递不同的参数
         if items_to_pass is not None:
-            super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordered_items=items_to_pass, category=category, model=model, **kwargs
+            )
         elif ordering_param is not None:
             # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
-            super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+            )
         else:
-            super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
+            super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
 
         self._unilabos_state = {}
         if material_info:
@@ -716,6 +754,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             adapter_hole_size_x=adapter_hole_size_x,
             adapter_hole_size_y=adapter_hole_size_y,
             adapter_hole_size_z=adapter_hole_size_z,
+            category=category,
             model=model,
             **kwargs,
         )
@@ -803,6 +842,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         self.xy_coupling = xy_coupling
         self._slot_prcxi_positions: Dict[int, Tuple[float, float]] = {}
         self.calibration_labware_type = calibration_labware_type
+        self.max_z_pipetting = 185
+        self.max_z_claw = 170
 
         if calibration_points is not None:
             self.calibrate_from_points(calibration_points, labware_type=self.calibration_labware_type)
@@ -839,12 +880,65 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         )
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
         self._first_transfer_done = False
+        # backend 在做槽位反查时若拿不到 deck，需要回退到 handler.deck，这里建立反向引用
+        self._unilabos_backend._handler = self
 
     @staticmethod
     def _get_slot_number(resource) -> Optional[int]:
         """从 resource 的 unilabos_extra["update_resource_site"]（如 "T13"）或位置反算槽位号。"""
         return _get_slot_number(resource)
 
+    def _top_level_consumable(self, resource):
+        """从任意 PLR 资源沿 parent 向上找"放在 deck 上的那一层耗材"。"""
+        if resource is None:
+            return None
+        cur = resource
+        while cur is not None:
+            parent = getattr(cur, "parent", None)
+            if isinstance(parent, PRCXI9300Deck):
+                return cur
+            if parent is None:
+                # 已到顶；若 cur 本身就是 deck，没有"耗材"层
+                if isinstance(cur, PRCXI9300Deck):
+                    return None
+                return cur
+            cur = parent
+        return None
+
+    def _attach_resources_to_deck_if_needed(self, items: Sequence[Resource]) -> None:
+        """把通过 _resolve_to_plr_resources 拿回的"游离"耗材自动挂到 self.deck。
+
+        - 已经在 PRCXI9300Deck 上（含 name 同名）的跳过；
+        - 优先按 ``unilabos_extra.update_resource_site`` 的 Tn 解析槽位；
+        - 否则交给 ``Deck.assign_child_resource`` 找空槽。
+        - 任意失败仅打印告警，不中断主流程（backend 仍可走名字兜底）。
+        """
+        deck = getattr(self, "deck", None)
+        if not isinstance(deck, PRCXI9300Deck):
+            return
+        existing_names = {getattr(c, "name", None) for c in deck.children}
+        for item in items:
+            top = self._top_level_consumable(item)
+            if top is None or not isinstance(top, Resource):
+                continue
+            if isinstance(getattr(top, "parent", None), PRCXI9300Deck):
+                continue
+            top_name = getattr(top, "name", None)
+            if top_name in existing_names:
+                continue
+            spot_idx: Optional[int] = None
+            extra = getattr(top, "unilabos_extra", {}) or {}
+            site = str(extra.get("update_resource_site", ""))
+            if site:
+                digits = "".join(c for c in site if c.isdigit())
+                if digits:
+                    spot_idx = int(digits) - 1
+            try:
+                deck.assign_child_resource(top, spot=spot_idx, reassign=False)
+                existing_names.add(top_name)
+            except Exception as e:
+                print(f"[PRCXI] 自动挂载到 deck 失败: name={top_name}, site={site or '?'}, err={e}")
+
     def _match_and_create_matrix(self):
         """首次 transfer_liquid 时，根据 deck 上的 resource 自动匹配耗材并创建 WorkTabletMatrix。"""
         backend = self._unilabos_backend
@@ -962,7 +1056,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 slot_pos = self._slot_prcxi_positions[number]
                 pos.x = slot_pos[0] - child.get_size_x() / 2 + self.left_2_claw.x
                 pos.y = slot_pos[1] - child.get_size_y() / 2 + self.left_2_claw.y
-                claw_positions.append({"Number": number, "XPos": pos.x, "YPos": pos.y, "ZPos": pos.z})
+                claw_positions.append({"Number": number, "XPos": pos.x, "YPos": pos.y, "ZPos": max(min(pos.z, self.max_z_claw),0)})
 
                 if child.children:
                     pip_pos = self.plr_pos_to_prcxi(child.children[0])
@@ -978,13 +1072,13 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                     "Number": number,
                     "XPos": pip_pos.x,
                     "YPos": pip_pos.y,
-                    "ZPos": pip_pos.z, 
+                    "ZPos": max(min(pip_pos.z, self.max_z_pipetting),0), 
                     "X_Left": half_x,
                     "X_Right": half_x,
                     "ZAgainstTheWall": pip_pos.z - z_wall,
                     "X2Pos": pip_pos.x + self.right_2_left.x,
                     "Y2Pos": pip_pos.y + self.right_2_left.y,
-                    "Z2Pos": pip_pos.z + self.right_2_left.z,
+                    "Z2Pos": max(min(pip_pos.z + self.right_2_left.z, self.max_z_pipetting),0),
                     "X2_Left": half_x,
                     "X2_Right": half_x,
                     "ZAgainstTheWall2": pip_pos.z - z_wall,
@@ -1241,6 +1335,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
+        pre_aspirate_from_target: Optional[float] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
         if not self._first_transfer_done:
@@ -1254,6 +1349,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         sources = await self._resolve_to_plr_resources(sources)
         targets = await self._resolve_to_plr_resources(targets)
         tip_racks = list(await self._resolve_to_plr_resources(tip_racks))
+        # 远端解析回来的 PLR 实例可能未挂到 self.deck，主动绑定一次，避免 backend 取 plate.parent==None
+        self._attach_resources_to_deck_if_needed(list(sources) + list(targets) + list(tip_racks))
         if isinstance(tip_racks[0], TipRack):
             tip_rack = tip_racks[0]
         else:
@@ -1320,6 +1417,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             mix_rate=mix_rate,
             mix_liquid_height=mix_liquid_height,
             delays=delays,
+            pre_aspirate_from_target=pre_aspirate_from_target,
             none_keys=none_keys,
         )
         if self.step_mode:
@@ -1475,6 +1573,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     _num_channels = 8  # 默认通道数为 8
     _is_reset_ok = False
     _ros_node: BaseROS2DeviceNode
+    _handler: Optional["PRCXI9300Handler"] = None  # 由 PRCXI9300Handler.__init__ 注入
 
     @property
     def is_reset_ok(self) -> bool:
@@ -1508,13 +1607,52 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.debug = debug
         self.axis = "Left"
 
-    @staticmethod
-    def _deck_plate_slot_no(plate, deck) -> int:
-        """台面板位槽号（1–16）：与 PRCXI9300Handler._get_slot_number 一致；无法解析时退回 deck 子项顺序 +1。"""
+    def _resolve_deck(self, plate, deck=None) -> Optional["PRCXI9300Deck"]:
+        """定位 plate 所属的 PRCXI9300Deck：按 deck 入参 → plate 的祖先链 → handler.deck 顺序回退。"""
+        if isinstance(deck, PRCXI9300Deck):
+            return deck
+        cur = plate
+        while cur is not None:
+            if isinstance(cur, PRCXI9300Deck):
+                return cur
+            cur = getattr(cur, "parent", None)
+        if self._handler is not None:
+            handler_deck = getattr(self._handler, "deck", None)
+            if isinstance(handler_deck, PRCXI9300Deck):
+                return handler_deck
+        return None
+
+    def _deck_plate_slot_no(self, plate, deck=None) -> int:
+        """台面板位槽号（1–16）：优先 _get_slot_number；否则沿父链/handler.deck 找到 deck 后取序号+1。"""
         sn = PRCXI9300Handler._get_slot_number(plate)
         if sn is not None:
             return sn
-        return deck.children.index(plate) + 1
+        actual_deck = self._resolve_deck(plate, deck)
+        if actual_deck is None:
+            raise RuntimeError(
+                f"无法定位 {getattr(plate, 'name', '?')} 所在的 PRCXI9300Deck："
+                "请确认 tip_rack/plate 已挂到 self.deck，或在 unilabos_extra 中提供 update_resource_site=Tn。"
+            )
+        if plate in actual_deck.children:
+            index = actual_deck.children.index(plate)
+            plate_new = actual_deck.children[index]
+            sn = PRCXI9300Handler._get_slot_number(plate_new)
+            if sn is not None:
+                return sn
+            else:
+                raise RuntimeError(
+                    f"无法定位 {getattr(plate_new, 'name', '?')} 所在的 PRCXI9300Deck："
+                    f"x: {plate_new.location}"
+                )
+        # 名字兜底（远端解析回来的实例与 deck 上的不是同一对象）
+        plate_name = getattr(plate, "name", None)
+        if plate_name is not None:
+            for i, c in enumerate(actual_deck.children):
+                if getattr(c, "name", None) == plate_name:
+                    return i + 1
+        raise RuntimeError(
+            f"{getattr(plate, 'name', '?')} 不在 deck.children 中且无可解析的槽位号"
+        )
 
     @staticmethod
     def _resource_num_items_y(resource) -> int:
@@ -1977,7 +2115,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         assist_fun1 = ""
         if ops[0].blow_out_air_volume is not None:
-            assist_fun1 = f"吹样({float(min(max(ops[0].blow_out_air_volume,0),10))}ul)"
+            assist_fun1 = f"吹样({float(min(max(ops[0].blow_out_air_volume,5),10))}ul)"
+        else :
+            assist_fun1 = f"吹样({5.0}ul)"
 
         step = self.api_client.Tapping(
             axis=axis,

unilabos/labware_manager/labware_db.json

@@ -632,7 +632,7 @@
       "size_y": 85.8,
       "size_z": 42.66,
       "model": "PRCXI_EP_Adapter",
-      "category": null,
+      "category": "tube_rack",
       "plate_type": null,
       "material_info": {
         "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",

unilabos/ros/nodes/base_device_node.py

@@ -529,7 +529,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         )
                     # 调整了液体以及Deck之后要重新Assign
                     # noinspection PyUnresolvedReferences
-                    rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
+                    rts_with_parent = ResourceTreeSet.from_plr_resources([plr_instance])
                     if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
                         rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
                     request.command = json.dumps(

unilabos/ros/nodes/presets/host_node.py

@@ -570,6 +570,102 @@ class HostNode(BaseROS2DeviceNode):
             responses.append(response.response)
         return responses
 
+    def _lookup_deck_for_slot(self, device_id: str, deck_id: str):
+        """根据 device_id / deck_id 查找 deck PLR 实例，找不到返回 None。
+
+        优先级：
+        1. ``devices_instances[device_id]`` 上对应 driver 的 ``deck`` 属性（PLR LiquidHandler 的标准属性）
+        2. driver / wrapper / _ros_node 各级 resource_tracker.figure_resource({"id": deck_id})
+        3. host 自己的 ``_resource_tracker``
+        """
+        log = self.lab_logger()
+
+        def _try_tracker(tracker, src_desc: str):
+            if tracker is None:
+                log.debug(f"[Host Node] _lookup_deck: {src_desc} tracker 为 None，跳过")
+                return None
+            try:
+                matches = tracker.figure_resource({"id": deck_id}, try_mode=True)
+            except Exception as e:
+                log.warning(f"[Host Node] _lookup_deck: {src_desc}.figure_resource({deck_id}) 失败: {e}")
+                return None
+            if isinstance(matches, list) and matches:
+                obj = next((m for m in matches if not isinstance(m, dict)), matches[0])
+                if obj is not None and not isinstance(obj, dict):
+                    log.debug(f"[Host Node] _lookup_deck: 命中 via {src_desc} -> {type(obj).__name__}")
+                    return obj
+            log.debug(f"[Host Node] _lookup_deck: {src_desc} figure_resource 未命中 (matches={matches!r})")
+            return None
+
+        # 1) 先按 device_id 拿 driver 上的 deck
+        candidate_ids = []
+        if device_id:
+            candidate_ids.append(device_id)
+            stripped = device_id.lstrip("/")
+            if stripped and stripped != device_id:
+                candidate_ids.append(stripped)
+            tail = device_id.split("/")[-1]
+            if tail and tail not in candidate_ids:
+                candidate_ids.append(tail)
+
+        d = None
+        for did in candidate_ids:
+            d = self.devices_instances.get(did)
+            if d is not None:
+                break
+        if d is None:
+            log.warning(
+                f"[Host Node] _lookup_deck: devices_instances 找不到 device_id={device_id!r} "
+                f"(尝试过 {candidate_ids}); 当前已知: {list(self.devices_instances.keys())}"
+            )
+        else:
+            # 真正的 driver 在 wrapper 的 _driver_instance / _ros_node.driver_instance 上
+            driver_candidates = []
+            for attr_path in ("_driver_instance", "_ros_node.driver_instance", "driver_instance"):
+                obj = d
+                for part in attr_path.split("."):
+                    obj = getattr(obj, part, None)
+                    if obj is None:
+                        break
+                if obj is not None and obj not in driver_candidates:
+                    driver_candidates.append(obj)
+
+            for drv in driver_candidates:
+                deck = getattr(drv, "deck", None)
+                if deck is not None:
+                    deck_name = getattr(deck, "name", None)
+                    if deck_name == deck_id:
+                        log.debug(
+                            f"[Host Node] _lookup_deck: 命中 via {type(drv).__name__}.deck (name={deck_name})"
+                        )
+                        return deck
+                    log.debug(
+                        f"[Host Node] _lookup_deck: {type(drv).__name__}.deck.name={deck_name!r} 与 {deck_id!r} 不一致"
+                    )
+
+            # 退化：从 wrapper / _ros_node 的 resource_tracker 找
+            tracker_paths = (
+                "resource_tracker",
+                "_ros_node.resource_tracker",
+            )
+            for attr_path in tracker_paths:
+                tracker = d
+                for part in attr_path.split("."):
+                    tracker = getattr(tracker, part, None)
+                    if tracker is None:
+                        break
+                obj = _try_tracker(tracker, f"device({device_id}).{attr_path}")
+                if obj is not None:
+                    return obj
+
+        # 2) host 自己的 tracker（一般为空，因为 init 时 device 树被 continue 了）
+        host_tracker = getattr(self, "resource_tracker", None) or getattr(self, "_resource_tracker", None)
+        obj = _try_tracker(host_tracker, "host._resource_tracker")
+        if obj is not None:
+            return obj
+
+        return None
+
     async def create_resource(
         self,
         device_id: DeviceSlot,
@@ -583,6 +679,30 @@ class HostNode(BaseROS2DeviceNode):
         slot_on_deck: str = "",
     ) -> CreateResourceReturn:
         # 暂不支持多对同名父子同时存在
+        # 如果 slot_on_deck 不是空，并且 bind_locations 全为 0，则尝试通过 deck 的 slot 信息推算真实坐标
+        if slot_on_deck and (
+            (not hasattr(bind_locations, "x") or bind_locations.x == 0)
+            and (not hasattr(bind_locations, "y") or bind_locations.y == 0)
+            and (not hasattr(bind_locations, "z") or bind_locations.z == 0)
+        ):
+            # 尝试通过 parent (deck) 查找 slot 坐标，parent 应是deck的id
+            deck_id = parent.split("/")[-1]
+            deck_obj = self._lookup_deck_for_slot(device_id, deck_id)
+            if deck_obj is not None and hasattr(deck_obj, "get_slot_location"):
+                try:
+                    slot_location = deck_obj.get_slot_location(slot_on_deck)
+                    bind_locations.x = slot_location.x
+                    bind_locations.y = slot_location.y
+                    bind_locations.z = slot_location.z
+                except Exception as e:
+                    self.lab_logger().warning(
+                        f"[Host Node] 无法通过deck({deck_id})获取slot({slot_on_deck})位置: {e}"
+                    )
+            else:
+                self.lab_logger().warning(
+                    f"[Host Node] 找不到deck对象({deck_id})或其不支持get_slot_location, 无法修正bind_locations"
+                )
+
         res_creation_input = {
             "id": res_id.split("/")[-1],
             "name": res_id.split("/")[-1],
@@ -608,6 +728,45 @@ class HostNode(BaseROS2DeviceNode):
                 }
             )
         init_new_res = initialize_resource(res_creation_input)  # flatten的格式
+
+        # 若 init_new_res 中节点的 pose.position 与 pose.position3d 同时全为 0，
+        # 用上面通过 deck slot 反查得到的 bind_locations 覆盖（位置仍可能是默认 0）
+        bind_xyz = {
+            "x": float(getattr(bind_locations, "x", 0) or 0),
+            "y": float(getattr(bind_locations, "y", 0) or 0),
+            "z": float(getattr(bind_locations, "z", 0) or 0),
+        }
+        if any(v != 0.0 for v in bind_xyz.values()):
+            def _is_zero_xyz(p):
+                if not isinstance(p, dict):
+                    return False
+                return (
+                    float(p.get("x", 0) or 0) == 0.0
+                    and float(p.get("y", 0) or 0) == 0.0
+                    and float(p.get("z", 0) or 0) == 0.0
+                )
+
+            def _patch_node(node):
+                if not isinstance(node, dict):
+                    return
+                pose = node.get("pose")
+                if not isinstance(pose, dict):
+                    return
+                pos = pose.get("position")
+                pos3d = pose.get("position3d")
+                if _is_zero_xyz(pos) and _is_zero_xyz(pos3d):
+                    pose["position"] = dict(bind_xyz)
+                    pose["position3d"] = dict(bind_xyz)
+
+            def _walk(obj):
+                if isinstance(obj, dict):
+                    _patch_node(obj)
+                elif isinstance(obj, list):
+                    for item in obj:
+                        _walk(item)
+
+            _walk(init_new_res)
+
         if len(init_new_res) > 1:  # 一个物料，多个子节点
             init_new_res = [init_new_res]
         resources: List[Resource] | List[List[Resource]] = init_new_res  # initialize_resource已经返回list[dict]

unilabos/test/experiments/prcxi_9320_slim.json

@@ -26,11 +26,11 @@
                 "is_9320": true,
                 "timeout": 10,
                 "matrix_id": "",
-                "simulator": false,
+                "simulator": true,
                 "channel_num": 2,
                 "step_mode": false,
                 "calibration_points": {
-                    "line_1": [[452.07,21.19], [313.88,21.19], [176.87,21.19], [39.08,21.19]],
+                    "line_1": [[452.07,21.19], [313.88,21.19], [177.17,21.19], [39.08,21.19]],
                     "line_2": [[451.37,116.68], [313.28,116.88], [176.58,116.69], [38.58,117.18]],
                     "line_3": [[450.87,212.18], [312.98,212.38], [176.08,212.68], [38.08,213.18]],
                     "line_4": [[450.08,307.68], [312.18,307.89], [175.18,308.18], [37.58,309.18]]