v0.10.19

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

add ai conventions

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

add gzip

change pose extra to any

add isFlapY

unilabos/registry/decorators.py

@@ -0,0 +1,614 @@
+"""
+装饰器注册表系统
+
+通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
+
+Usage:
+    from unilabos.registry.decorators import (
+        device, action, resource,
+        InputHandle, OutputHandle,
+        ActionInputHandle, ActionOutputHandle,
+        HardwareInterface, Side, DataSource,
+    )
+
+    @device(
+        id="solenoid_valve.mock",
+        category=["pump_and_valve"],
+        description="模拟电磁阀设备",
+        handles=[
+            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
+            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
+        ],
+        hardware_interface=HardwareInterface(
+            name="hardware_interface",
+            read="send_command",
+            write="send_command",
+        ),
+    )
+    class SolenoidValveMock:
+        @action(action_type=EmptyIn)
+        def close(self):
+            ...
+
+        @action(
+            handles=[
+                ActionInputHandle(key="in", data_type="fluid", label="in"),
+                ActionOutputHandle(key="out", data_type="fluid", label="out"),
+            ],
+        )
+        def set_valve_position(self, position):
+            ...
+
+        # 无 @action 装饰器 => auto- 前缀动作
+        def is_open(self):
+            ...
+"""
+
+from enum import Enum
+from functools import wraps
+from typing import Any, Callable, Dict, List, Optional, TypeVar
+
+from pydantic import BaseModel, ConfigDict, Field
+
+F = TypeVar("F", bound=Callable[..., Any])
+
+# ---------------------------------------------------------------------------
+# 枚举
+# ---------------------------------------------------------------------------
+
+
+class Side(str, Enum):
+    """UI 上 Handle 的显示位置"""
+
+    NORTH = "NORTH"
+    SOUTH = "SOUTH"
+    EAST = "EAST"
+    WEST = "WEST"
+
+
+class DataSource(str, Enum):
+    """Handle 的数据来源"""
+
+    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
+    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
+
+
+# ---------------------------------------------------------------------------
+# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
+# ---------------------------------------------------------------------------
+
+
+class _DeviceHandleBase(BaseModel):
+    """设备/资源端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+
+    # 子类覆盖
+    io_type: str = ""
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class InputHandle(_DeviceHandleBase):
+    """
+    输入端口 (io_type="target"), 用于 @device / @resource handles
+
+    Example:
+        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
+    """
+
+    io_type: str = "target"
+
+
+class OutputHandle(_DeviceHandleBase):
+    """
+    输出端口 (io_type="source"), 用于 @device / @resource handles
+
+    Example:
+        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
+    """
+
+    io_type: str = "source"
+
+
+# ---------------------------------------------------------------------------
+# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
+# ---------------------------------------------------------------------------
+
+
+class _ActionHandleBase(BaseModel):
+    """动作端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class ActionInputHandle(_ActionHandleBase):
+    """
+    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
+
+    Example:
+        ActionInputHandle(
+            key="material_input", data_type="workbench_material",
+            label="物料编号", data_key="material_number", data_source="handle",
+        )
+    """
+
+    pass
+
+
+class ActionOutputHandle(_ActionHandleBase):
+    """
+    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
+
+    Example:
+        ActionOutputHandle(
+            key="station_output", data_type="workbench_station",
+            label="加热台ID", data_key="station_id", data_source="executor",
+        )
+    """
+
+    pass
+
+
+# ---------------------------------------------------------------------------
+# HardwareInterface
+# ---------------------------------------------------------------------------
+
+
+class HardwareInterface(BaseModel):
+    """
+    硬件通信接口定义
+
+    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
+
+    Example:
+        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
+    """
+
+    name: str
+    read: Optional[str] = None
+    write: Optional[str] = None
+    extra_info: Optional[List[str]] = None
+
+
+# ---------------------------------------------------------------------------
+# 全局注册表 -- 记录所有被装饰器标记的类/函数
+# ---------------------------------------------------------------------------
+_registered_devices: Dict[str, type] = {}  # device_id -> class
+_registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
+
+
+def _device_handles_to_list(
+    handles: Optional[List[_DeviceHandleBase]],
+) -> List[Dict[str, Any]]:
+    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
+    if handles is None:
+        return []
+    return [h.to_registry_dict() for h in handles]
+
+
+def _action_handles_to_dict(
+    handles: Optional[List[_ActionHandleBase]],
+) -> Dict[str, Any]:
+    """
+    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
+
+    ActionInputHandle => "input", ActionOutputHandle => "output"
+    """
+    if handles is None:
+        return {}
+    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
+    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
+    result: Dict[str, Any] = {}
+    if input_list:
+        result["input"] = input_list
+    if output_list:
+        result["output"] = output_list
+    return result
+
+
+# ---------------------------------------------------------------------------
+# @device 类装饰器
+# ---------------------------------------------------------------------------
+
+
+# noinspection PyShadowingBuiltins
+def device(
+    id: Optional[str] = None,
+    ids: Optional[List[str]] = None,
+    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
+    category: Optional[List[str]] = None,
+    description: str = "",
+    display_name: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    device_type: str = "python",
+    hardware_interface: Optional[HardwareInterface] = None,
+):
+    """
+    设备类装饰器
+
+    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
+
+    支持两种模式:
+      1. 单设备: id="xxx", category=[...]
+      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
+
+    Args:
+        id: 单设备时的注册表唯一标识
+        ids: 多设备时的 id 列表，与 id_meta 配合使用
+        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
+        category: 设备分类标签列表 (必填)
+        description: 设备描述
+        display_name: 人类可读的设备显示名称，缺失时默认使用 id
+        icon: 图标路径
+        version: 版本号
+        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
+        model: 可选的 3D 模型配置
+        device_type: 设备实现类型 ("python" / "ros2")
+        hardware_interface: 硬件通信接口 (HardwareInterface)
+    """
+    # Resolve device ids
+    if ids is not None:
+        device_ids = list(ids)
+        if not device_ids:
+            raise ValueError("@device ids 不能为空")
+        id_meta = id_meta or {}
+    elif id is not None:
+        device_ids = [id]
+        id_meta = {}
+    else:
+        raise ValueError("@device 必须提供 id 或 ids")
+
+    if category is None:
+        raise ValueError("@device category 必填")
+
+    base_meta = {
+        "category": category,
+        "description": description,
+        "display_name": display_name,
+        "icon": icon,
+        "version": version,
+        "handles": _device_handles_to_list(handles),
+        "model": model,
+        "device_type": device_type,
+        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
+    }
+
+    def decorator(cls):
+        cls._device_registry_meta = base_meta
+        cls._device_registry_id_meta = id_meta
+        cls._device_registry_ids = device_ids
+
+        for did in device_ids:
+            if did in _registered_devices:
+                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
+            _registered_devices[did] = cls
+
+        return cls
+
+    return decorator
+
+
+# ---------------------------------------------------------------------------
+# @action 方法装饰器
+# ---------------------------------------------------------------------------
+
+# 区分 "用户没传 action_type" 和 "用户传了 None"
+_ACTION_TYPE_UNSET = object()
+
+
+# noinspection PyShadowingNames
+def action(
+    action_type: Any = _ACTION_TYPE_UNSET,
+    goal: Optional[Dict[str, str]] = None,
+    feedback: Optional[Dict[str, str]] = None,
+    result: Optional[Dict[str, str]] = None,
+    handles: Optional[List[_ActionHandleBase]] = None,
+    goal_default: Optional[Dict[str, Any]] = None,
+    placeholder_keys: Optional[Dict[str, str]] = None,
+    always_free: bool = False,
+    is_protocol: bool = False,
+    description: str = "",
+    auto_prefix: bool = False,
+    parent: bool = False,
+):
+    """
+    动作方法装饰器
+
+    标记方法为注册表动作。有三种用法:
+      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
+      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
+      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
+
+    Protocol 用法:
+      @action(action_type=Add, is_protocol=True)
+      def AddProtocol(self): ...
+      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
+      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
+
+    Args:
+        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
+                     不传/默认 = UniLabJsonCommand (非 auto).
+        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
+              protocol 模式下可留空，系统自动生成 identity 映射.
+        feedback: Feedback 字段映射
+        result: Result 字段映射
+        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
+        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
+        placeholder_keys: 参数占位符配置
+        always_free: 是否为永久闲置动作 (不受排队限制)
+        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
+        description: 动作描述
+        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
+        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
+        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
+
+        meta = {
+            "action_type": resolved_type,
+            "goal": goal or {},
+            "feedback": feedback or {},
+            "result": result or {},
+            "handles": _action_handles_to_dict(handles),
+            "goal_default": goal_default or {},
+            "placeholder_keys": placeholder_keys or {},
+            "always_free": always_free,
+            "is_protocol": is_protocol,
+            "description": description,
+            "auto_prefix": auto_prefix,
+            "parent": parent,
+        }
+        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
+
+        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
+        if always_free:
+            wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_action_meta(func) -> Optional[Dict[str, Any]]:
+    """获取方法上的 @action 装饰器元数据"""
+    return getattr(func, "_action_registry_meta", None)
+
+
+def has_action_decorator(func) -> bool:
+    """检查函数是否带有 @action 装饰器"""
+    return hasattr(func, "_action_registry_meta")
+
+
+# ---------------------------------------------------------------------------
+# @resource 类/函数装饰器
+# ---------------------------------------------------------------------------
+
+
+def resource(
+    id: str,
+    category: List[str],
+    description: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    class_type: str = "pylabrobot",
+):
+    """
+    资源类/函数装饰器
+
+    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
+
+    Args:
+        id: 注册表唯一标识 (必填, 不可重复)
+        category: 资源分类标签列表 (必填)
+        description: 资源描述
+        icon: 图标路径
+        version: 版本号
+        handles: 端口列表 (InputHandle / OutputHandle)
+        model: 可选的 3D 模型配置
+        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
+    """
+
+    def decorator(obj):
+        meta = {
+            "resource_id": id,
+            "category": category,
+            "description": description,
+            "icon": icon,
+            "version": version,
+            "handles": _device_handles_to_list(handles),
+            "model": model,
+            "class_type": class_type,
+        }
+        obj._resource_registry_meta = meta
+
+        if id in _registered_resources:
+            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
+        _registered_resources[id] = obj
+
+        return obj
+
+    return decorator
+
+
+def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
+    """
+    获取类上的 @device 装饰器元数据。
+
+    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
+    (base_meta 与 id_meta[device_id] 深度合并)。
+    """
+    base = getattr(cls, "_device_registry_meta", None)
+    if base is None:
+        return None
+    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
+    if device_id is None or device_id not in id_meta:
+        result = dict(base)
+        ids = getattr(cls, "_device_registry_ids", None)
+        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
+        return result
+
+    overrides = id_meta[device_id]
+    result = dict(base)
+    result["device_id"] = device_id
+    for key in ["handles", "description", "icon", "model"]:
+        if key in overrides:
+            val = overrides[key]
+            if key == "handles" and isinstance(val, list):
+                # handles 必须是 Handle 对象列表
+                result[key] = [h.to_registry_dict() for h in val]
+            else:
+                result[key] = val
+    return result
+
+
+def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
+    """获取对象上的 @resource 装饰器元数据"""
+    return getattr(obj, "_resource_registry_meta", None)
+
+
+def get_all_registered_devices() -> Dict[str, type]:
+    """获取所有已注册的设备类"""
+    return _registered_devices.copy()
+
+
+def get_all_registered_resources() -> Dict[str, Any]:
+    """获取所有已注册的资源"""
+    return _registered_resources.copy()
+
+
+def clear_registry():
+    """清空全局注册表 (用于测试)"""
+    _registered_devices.clear()
+    _registered_resources.clear()
+
+
+# ---------------------------------------------------------------------------
+# topic_config / not_action / always_free 装饰器
+# ---------------------------------------------------------------------------
+
+
+def topic_config(
+    period: Optional[float] = None,
+    print_publish: Optional[bool] = None,
+    qos: Optional[int] = None,
+    name: Optional[str] = None,
+) -> Callable[[F], F]:
+    """
+    Topic发布配置装饰器
+
+    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
+
+    Args:
+        period: 发布周期（秒）。None 表示使用默认值 5.0
+        print_publish: 是否打印发布日志。None 表示使用节点默认配置
+        qos: QoS深度配置。None 表示使用默认值 10
+        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
+
+    Note:
+        与 @property 连用时，@topic_config 必须放在 @property 下面，
+        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        wrapper._topic_period = period  # type: ignore[attr-defined]
+        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
+        wrapper._topic_qos = qos  # type: ignore[attr-defined]
+        wrapper._topic_name = name  # type: ignore[attr-defined]
+        wrapper._has_topic_config = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_topic_config(func) -> dict:
+    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
+    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
+        return {
+            "period": getattr(func, "_topic_period", None),
+            "print_publish": getattr(func, "_topic_print_publish", None),
+            "qos": getattr(func, "_topic_qos", None),
+            "name": getattr(func, "_topic_name", None),
+        }
+    return {}
+
+
+def always_free(func: F) -> F:
+    """
+    标记动作为永久闲置(不受busy队列限制)的装饰器
+
+    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
+    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_always_free(func) -> bool:
+    """检查函数是否被标记为永久闲置"""
+    return getattr(func, "_is_always_free", False)
+
+
+def not_action(func: F) -> F:
+    """
+    标记方法为非动作的装饰器
+
+    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
+    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_not_action = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_not_action(func) -> bool:
+    """检查函数是否被标记为非动作"""
+    return getattr(func, "_is_not_action", False)

unilabos/registry/devices/Qone_nmr.yaml

@@ -13,21 +13,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -71,31 +68,6 @@ Qone_nmr:
           title: monitor_folder_for_new_content参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-strings_to_txt:
         feedback: {}
         goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -167,32 +136,31 @@ Qone_nmr:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/bioyond_cell.yaml

@@ -22,7 +22,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: auto_batch_outbound_from_xlsx参数
@@ -490,7 +491,9 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
-                  type: string
+                  items:
+                    type: string
+                  type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
                   type: string
@@ -499,7 +502,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_and_inbound_materials参数
@@ -535,7 +539,8 @@ bioyond_cell:
               - type_id
               - warehouse_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_material参数
@@ -556,11 +561,16 @@ bioyond_cell:
             goal:
               properties:
                 mappings:
+                  additionalProperties:
+                    type: object
                   type: object
               required:
               - mappings
               type: object
-            result: {}
+            result:
+              items:
+                type: object
+              type: array
           required:
           - goal
           title: create_materials参数
@@ -592,7 +602,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders参数
@@ -624,7 +635,8 @@ bioyond_cell:
               required:
               - xlsx_path
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_orders_v2参数
@@ -665,7 +677,8 @@ bioyond_cell:
               - bottle_type
               - location_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_sample参数
@@ -718,7 +731,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: order_list_v2参数
@@ -821,7 +835,8 @@ bioyond_cell:
               required:
               - material_obj
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: report_material_change参数
@@ -875,7 +890,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_continue参数
@@ -896,7 +912,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_reset参数
@@ -917,7 +934,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start参数
@@ -1362,7 +1380,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding参数
@@ -1807,7 +1826,8 @@ bioyond_cell:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_start_and_auto_feeding_v2参数
@@ -1828,7 +1848,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: scheduler_stop参数
@@ -1850,12 +1871,15 @@ bioyond_cell:
               properties:
                 items:
                   items:
+                    additionalProperties:
+                      type: string
                     type: object
                   type: array
               required:
               - items
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_batch_inbound参数
@@ -1884,7 +1908,8 @@ bioyond_cell:
               - material_id
               - location_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: storage_inbound参数
@@ -1905,7 +1930,8 @@ bioyond_cell:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_1_to_2参数
@@ -1946,7 +1972,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2参数
@@ -1983,7 +2010,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_3_to_2_to_1参数
@@ -2007,10 +2035,11 @@ bioyond_cell:
                 ip:
                   type: string
                 port:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: update_push_ip参数
@@ -2039,7 +2068,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish参数
@@ -2072,7 +2102,8 @@ bioyond_cell:
               required:
               - order_code
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_order_finish_polling参数
@@ -2104,7 +2135,8 @@ bioyond_cell:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_transfer_task参数
@@ -2112,8 +2144,7 @@ bioyond_cell:
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
     status_types:
-      device_id: String
-      material_info: dict
+      device_id: ''
     type: python
   config_info: []
   description: ''
@@ -2134,11 +2165,7 @@ bioyond_cell:
       properties:
         device_id:
           type: string
-        material_info:
-          type: object
       required:
       - device_id
-      - material_info
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -24,7 +24,8 @@ bioyond_dispensing_station:
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: brief_step_parameters参数
@@ -53,7 +54,8 @@ bioyond_dispensing_station:
               - report_request
               - used_materials
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_order_finish_report参数
@@ -78,7 +80,8 @@ bioyond_dispensing_station:
               required:
               - order_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: project_order_report参数
@@ -128,7 +131,8 @@ bioyond_dispensing_station:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_sample_locations参数
@@ -144,12 +148,12 @@ bioyond_dispensing_station:
           temperature: temperature
           titration: titration
         goal_default:
-          delay_time: '600'
-          hold_m_name: ''
+          delay_time: null
+          hold_m_name: null
           liquid_material_name: NMP
-          speed: '400'
-          temperature: '40'
-          titration: ''
+          speed: null
+          temperature: null
+          titration: null
         handles:
           input:
           - data_key: titration
@@ -165,20 +169,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreate9010VialFeedingTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 延迟时间(秒),默认600
                   type: string
                 hold_m_name:
@@ -189,11 +189,9 @@ bioyond_dispensing_station:
                   description: 10%物料的液体物料名称,默认为"NMP"
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度,默认400
                   type: string
                 temperature:
-                  default: '40'
                   description: 温度(℃),默认40
                   type: string
                 titration:
@@ -202,21 +200,14 @@ bioyond_dispensing_station:
                   type: string
               required:
               - titration
-              - hold_m_name
               title: BatchCreate9010VialFeedingTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreate9010VialFeedingTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreate9010VialFeedingTasks
+          title: batch_create_90_10_vial_feeding_tasks参数
           type: object
         type: UniLabJsonCommand
       batch_create_diamine_solution_tasks:
@@ -228,11 +219,11 @@ bioyond_dispensing_station:
           speed: speed
           temperature: temperature
         goal_default:
-          delay_time: '600'
+          delay_time: null
           liquid_material_name: NMP
-          solutions: ''
-          speed: '400'
-          temperature: '20'
+          solutions: null
+          speed: null
+          temperature: null
         handles:
           input:
           - data_key: solutions
@@ -248,20 +239,16 @@ bioyond_dispensing_station:
             handler_key: BATCH_CREATE_RESULT
             io_type: sink
             label: Complete Batch Create Result JSON (contains order_codes and order_ids)
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BatchCreateDiamineSolutionTasks_Feedback
-              type: object
             goal:
               properties:
                 delay_time:
-                  default: '600'
                   description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
                   type: string
                 liquid_material_name:
@@ -275,11 +262,9 @@ bioyond_dispensing_station:
                     4.5, "solvent_volume": 18}]'
                   type: string
                 speed:
-                  default: '400'
                   description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
                   type: string
                 temperature:
-                  default: '20'
                   description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
                   type: string
               required:
@@ -287,17 +272,11 @@ bioyond_dispensing_station:
               title: BatchCreateDiamineSolutionTasks_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
-                  type: string
-              required:
-              - return_info
               title: BatchCreateDiamineSolutionTasks_Result
-              type: object
+              type: string
           required:
           - goal
-          title: BatchCreateDiamineSolutionTasks
+          title: batch_create_diamine_solution_tasks参数
           type: object
         type: UniLabJsonCommand
       compute_experiment_design:
@@ -309,7 +288,7 @@ bioyond_dispensing_station:
           wt_percent: wt_percent
         goal_default:
           m_tot: '70'
-          ratio: ''
+          ratio: null
           titration_percent: '0.03'
           wt_percent: '0.25'
         handles:
@@ -338,12 +317,8 @@ bioyond_dispensing_station:
             handler_key: feeding_order
             io_type: sink
             label: Feeding Order Data From Calculation Node
-        result:
-          feeding_order: feeding_order
-          return_info: return_info
-          solutions: solutions
-          solvents: solvents
-          titration: titration
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
           properties:
@@ -356,7 +331,7 @@ bioyond_dispensing_station:
                   type: string
                 ratio:
                   description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
-                  type: string
+                  type: object
                 titration_percent:
                   default: '0.03'
                   description: 滴定比例(10%部分)
@@ -371,14 +346,23 @@ bioyond_dispensing_station:
             result:
               properties:
                 feeding_order:
+                  items: {}
+                  title: Feeding Order
                   type: array
                 return_info:
+                  title: Return Info
                   type: string
                 solutions:
+                  items: {}
+                  title: Solutions
                   type: array
                 solvents:
+                  additionalProperties: true
+                  title: Solvents
                   type: object
                 titration:
+                  additionalProperties: true
+                  title: Titration
                   type: object
               required:
               - solutions
@@ -386,11 +370,11 @@ bioyond_dispensing_station:
               - solvents
               - feeding_order
               - return_info
-              title: ComputeExperimentDesign_Result
+              title: ComputeExperimentDesignReturn
               type: object
           required:
           - goal
-          title: ComputeExperimentDesign
+          title: compute_experiment_design参数
           type: object
         type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
@@ -444,17 +428,18 @@ bioyond_dispensing_station:
           speed: ''
           temperature: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: DispenStationVialFeed_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -502,38 +487,13 @@ bioyond_dispensing_station:
                   type: string
                 temperature:
                   type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationVialFeed_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationVialFeed_Result
               type: object
           required:
@@ -564,17 +524,18 @@ bioyond_dispensing_station:
           temperature: ''
           volume: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: DispenStationSolnPrep_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 delay_time:
                   type: string
@@ -594,24 +555,13 @@ bioyond_dispensing_station:
                   type: string
                 volume:
                   type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
               title: DispenStationSolnPrep_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: DispenStationSolnPrep_Result
               type: object
           required:
@@ -624,8 +574,8 @@ bioyond_dispensing_station:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
           properties:
@@ -635,12 +585,6 @@ bioyond_dispensing_station:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -654,8 +598,8 @@ bioyond_dispensing_station:
           target_device_id: target_device_id
           transfer_groups: transfer_groups
         goal_default:
-          target_device_id: ''
-          transfer_groups: ''
+          target_device_id: null
+          transfer_groups: null
         handles: {}
         placeholder_keys:
           target_device_id: unilabos_devices
@@ -671,32 +615,13 @@ bioyond_dispensing_station:
                   type: string
                 transfer_groups:
                   description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
-                  items:
-                    properties:
-                      materials:
-                        description: 物料名称（手动输入，系统将通过RPC查询验证）
-                        type: string
-                      target_sites:
-                        description: 目标库位（手动输入，如"A01"）
-                        type: string
-                      target_stack:
-                        description: 目标堆栈名称（从列表选择）
-                        enum:
-                        - 堆栈1左
-                        - 堆栈1右
-                        - 站内试剂存放堆栈
-                        type: string
-                    required:
-                    - materials
-                    - target_stack
-                    - target_sites
-                    type: object
                   type: array
               required:
               - target_device_id
               - transfer_groups
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: transfer_materials_to_reaction_station参数
@@ -709,9 +634,9 @@ bioyond_dispensing_station:
           check_interval: check_interval
           timeout: timeout
         goal_default:
-          batch_create_result: ''
-          check_interval: '10'
-          timeout: '7200'
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
         handles:
           input:
           - data_key: batch_create_result
@@ -727,47 +652,35 @@ bioyond_dispensing_station:
             handler_key: batch_reports_result
             io_type: sink
             label: Batch Order Completion Reports
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
           properties:
             feedback:
-              properties: {}
-              required: []
               title: WaitForMultipleOrdersAndGetReports_Feedback
-              type: object
             goal:
               properties:
                 batch_create_result:
                   description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
                   type: string
                 check_interval:
-                  default: '10'
+                  default: 10
                   description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
-                  type: string
+                  type: integer
                 timeout:
-                  default: '7200'
+                  default: 7200
                   description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
-                  type: string
-              required:
-              - batch_create_result
+                  type: integer
+              required: []
               title: WaitForMultipleOrdersAndGetReports_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
-                    error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
-                    order_id, status, completion_status, report, elapsed_time)'
-                  type: string
-              required:
-              - return_info
               title: WaitForMultipleOrdersAndGetReports_Result
               type: object
           required:
           - goal
-          title: WaitForMultipleOrdersAndGetReports
+          title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

unilabos/registry/devices/camera.yaml

@@ -1,81 +0,0 @@
-camera:
-  category:
-  - camera
-  class:
-    action_value_mappings:
-      auto-destroy_node:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: destroy_node参数
-          type: object
-        type: UniLabJsonCommand
-      auto-timer_callback:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: timer_callback参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.ros.nodes.presets.camera:VideoPublisher
-    status_types: {}
-    type: ros2
-  config_info: []
-  description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        camera_index:
-          default: 0
-          type: string
-        device_id:
-          default: video_publisher
-          type: string
-        device_uuid:
-          default: ''
-          type: string
-        period:
-          default: 0.1
-          type: number
-        registry_name:
-          default: ''
-          type: string
-        resource_tracker:
-          type: object
-      required: []
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/cameraSII.yaml

@@ -18,7 +18,7 @@ cameracontroller_device:
             goal:
               properties:
                 config:
-                  type: string
+                  type: object
               required: []
               type: object
             result: {}
@@ -42,7 +42,8 @@ cameracontroller_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: stop参数
@@ -50,7 +51,7 @@ cameracontroller_device:
         type: UniLabJsonCommand
     module: unilabos.devices.cameraSII.cameraUSB:CameraController
     status_types:
-      status: dict
+      status: Dict[str, Any]
     type: python
   config_info: []
   description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -103,5 +104,4 @@ cameracontroller_device:
       required:
       - status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/characterization_chromatic.yaml

@@ -141,30 +141,26 @@ hplc.agilent:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -175,7 +171,6 @@ hplc.agilent:
     module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
     status_types:
       could_run: bool
-      data_file: String
       device_status: str
       driver_init_ok: bool
       finish_status: str
@@ -199,10 +194,6 @@ hplc.agilent:
       properties:
         could_run:
           type: boolean
-        data_file:
-          items:
-            type: string
-          type: array
         device_status:
           type: string
         driver_init_ok:
@@ -216,14 +207,13 @@ hplc.agilent:
         success:
           type: boolean
       required:
-      - status_text
-      - device_status
       - could_run
+      - device_status
       - driver_init_ok
-      - is_running
-      - success
       - finish_status
-      - data_file
+      - is_running
+      - status_text
+      - success
       type: object
   version: 1.0.0
 hplc.agilent-zhida:
@@ -236,26 +226,25 @@ hplc.agilent-zhida:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -315,21 +304,18 @@ hplc.agilent-zhida:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -341,35 +327,35 @@ hplc.agilent-zhida:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -407,7 +393,7 @@ hplc.agilent-zhida:
         status:
           type: object
       required:
-      - status
       - methods
+      - status
       type: object
   version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -120,42 +120,41 @@ raman.home_made:
           type: object
         type: UniLabJsonCommand
       raman_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/chinwe.yaml

@@ -19,7 +19,8 @@ separator.chinwe:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: connect参数
@@ -65,135 +66,145 @@ separator.chinwe:
               required:
               - command_dict
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: execute_command_from_outer参数
           type: object
         type: UniLabJsonCommand
       motor_rotate_quarter:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: 60
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机旋转 1/4 圈
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 speed:
                   default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
-              - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_rotate_quarter参数
+          type: object
         type: UniLabJsonCommand
       motor_run_continuous:
+        feedback: {}
         goal:
           direction: 顺时针
           motor_id: 4
           speed: 60
+        goal_default:
+          direction: 顺时针
+          motor_id: null
+          speed: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 电机一直旋转 (速度模式)
           properties:
+            feedback: {}
             goal:
               properties:
                 direction:
                   default: 顺时针
                   description: 旋转方向
-                  enum:
-                  - 顺时针
-                  - 逆时针
                   type: string
                 motor_id:
-                  default: '4'
                   description: 选择电机 (4:搅拌, 5:旋钮)
-                  enum:
-                  - '4'
-                  - '5'
-                  type: string
+                  type: integer
                 speed:
-                  default: 60
                   description: 速度 (RPM)
                   type: integer
               required:
               - motor_id
               - speed
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_run_continuous参数
+          type: object
         type: UniLabJsonCommand
       motor_stop:
+        feedback: {}
         goal:
           motor_id: 4
+        goal_default:
+          motor_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 停止指定步进电机
           properties:
+            feedback: {}
             goal:
               properties:
                 motor_id:
-                  default: '4'
                   description: 选择电机
-                  enum:
-                  - '4'
-                  - '5'
                   title: '注: 4=搅拌, 5=旋钮'
-                  type: string
+                  type: integer
               required:
               - motor_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: motor_stop参数
+          type: object
         type: UniLabJsonCommand
       pump_aspirate:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵吸液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 volume:
-                  default: 1000
                   description: 吸液步数
                   type: integer
               required:
@@ -201,41 +212,38 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_aspirate参数
+          type: object
         type: UniLabJsonCommand
       pump_dispense:
+        feedback: {}
         goal:
           pump_id: 1
           valve_port: 1
           volume: 1000
+        goal_default:
+          pump_id: null
+          valve_port: null
+          volume: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 注射泵排液
           properties:
+            feedback: {}
             goal:
               properties:
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
                 valve_port:
-                  default: '1'
                   description: 阀门端口
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 volume:
-                  default: 1000
                   description: 排液步数
                   type: integer
               required:
@@ -243,121 +251,152 @@ separator.chinwe:
               - volume
               - valve_port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_dispense参数
+          type: object
         type: UniLabJsonCommand
       pump_initialize:
+        feedback: {}
         goal:
           drain_port: 0
           output_port: 0
           pump_id: 1
           speed: 10
+        goal_default:
+          drain_port: 0
+          output_port: 0
+          pump_id: null
+          speed: 10
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 初始化指定注射泵
           properties:
+            feedback: {}
             goal:
               properties:
                 drain_port:
                   default: 0
                   description: 排液口索引
-                  type: integer
+                  type: string
                 output_port:
                   default: 0
                   description: 输出口索引
-                  type: integer
-                pump_id:
-                  default: '1'
-                  description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  title: '注: 1号泵, 2号泵, 3号泵'
                   type: string
+                pump_id:
+                  description: 选择泵
+                  title: '注: 1号泵, 2号泵, 3号泵'
+                  type: integer
                 speed:
                   default: 10
                   description: 运动速度
-                  type: integer
+                  type: string
               required:
               - pump_id
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_initialize参数
+          type: object
         type: UniLabJsonCommand
       pump_valve:
+        feedback: {}
         goal:
           port: 1
           pump_id: 1
+        goal_default:
+          port: null
+          pump_id: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 切换指定泵的阀门端口
           properties:
+            feedback: {}
             goal:
               properties:
                 port:
-                  default: '1'
                   description: 阀门端口号 (1-8)
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  - '4'
-                  - '5'
-                  - '6'
-                  - '7'
-                  - '8'
-                  type: string
+                  type: integer
                 pump_id:
-                  default: '1'
                   description: 选择泵
-                  enum:
-                  - '1'
-                  - '2'
-                  - '3'
-                  type: string
+                  type: integer
               required:
               - pump_id
               - port
               type: object
+            result: {}
+          required:
+          - goal
+          title: pump_valve参数
+          type: object
         type: UniLabJsonCommand
       wait_sensor_level:
+        feedback: {}
         goal:
           target_state: 有液
           timeout: 30
+        goal_default:
+          target_state: 有液
+          timeout: 30
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待传感器液位条件
           properties:
+            feedback: {}
             goal:
               properties:
                 target_state:
                   default: 有液
                   description: 目标液位状态
-                  enum:
-                  - 有液
-                  - 无液
                   type: string
                 timeout:
                   default: 30
                   description: 超时时间 (秒)
                   type: integer
-              required:
-              - target_state
+              required: []
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_sensor_level参数
+          type: object
         type: UniLabJsonCommand
       wait_time:
+        feedback: {}
         goal:
           duration: 10
+        goal_default:
+          duration: null
         handles: {}
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 等待指定时间
           properties:
+            feedback: {}
             goal:
               properties:
                 duration:
-                  default: 10
                   description: 等待时间 (秒)
                   type: integer
               required:
               - duration
               type: object
+            result:
+              type: boolean
+          required:
+          - goal
+          title: wait_time参数
+          type: object
         type: UniLabJsonCommand
     module: unilabos.devices.separator.chinwe:ChinweDevice
     status_types:
@@ -406,8 +445,8 @@ separator.chinwe:
         sensor_rssi:
           type: integer
       required:
+      - is_connected
       - sensor_level
       - sensor_rssi
-      - is_connected
       type: object
   version: 2.1.0

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -64,7 +64,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: fun_wuliao_test参数
@@ -109,7 +110,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd参数
@@ -220,7 +222,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_allpack_cmd_simp参数
@@ -309,7 +312,8 @@ coincellassemblyworkstation_device:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_init_auto_start_combined参数
@@ -351,7 +355,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_device_stop参数
@@ -376,7 +381,8 @@ coincellassemblyworkstation_device:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_get_msg_cmd参数
@@ -430,7 +436,8 @@ coincellassemblyworkstation_device:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_finished_cmd参数
@@ -467,7 +474,8 @@ coincellassemblyworkstation_device:
               - assembly_type
               - assembly_pressure
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: func_pack_send_msg_cmd参数
@@ -611,7 +619,8 @@ coincellassemblyworkstation_device:
               - elec_num
               - elec_use_num
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: func_sendbottle_allpack_multi参数
@@ -663,31 +672,6 @@ coincellassemblyworkstation_device:
           title: modify_deck_name参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-qiming_coin_cell_code:
         feedback: {}
         goal: {}
@@ -735,7 +719,8 @@ coincellassemblyworkstation_device:
               required:
               - fujipian_panshu
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: qiming_coin_cell_code参数
@@ -826,25 +811,24 @@ coincellassemblyworkstation_device:
         sys_status:
           type: string
       required:
-      - sys_status
-      - sys_mode
-      - request_rec_msg_status
-      - request_send_msg_status
       - data_assembly_coin_cell_num
+      - data_assembly_pressure
       - data_assembly_time
-      - data_open_circuit_voltage
       - data_axis_x_pos
       - data_axis_y_pos
       - data_axis_z_pos
-      - data_pole_weight
-      - data_assembly_pressure
-      - data_electrolyte_volume
-      - data_coin_num
       - data_coin_cell_code
+      - data_coin_num
       - data_electrolyte_code
-      - data_glove_box_pressure
+      - data_electrolyte_volume
       - data_glove_box_o2_content
+      - data_glove_box_pressure
       - data_glove_box_water_content
+      - data_open_circuit_voltage
+      - data_pole_weight
+      - request_rec_msg_status
+      - request_send_msg_status
+      - sys_mode
+      - sys_status
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/gas_handler.yaml

@@ -50,26 +50,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -82,26 +81,25 @@ gas_source.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -116,32 +114,31 @@ gas_source.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -232,26 +229,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -264,26 +260,25 @@ vacuum_pump.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -298,32 +293,31 @@ vacuum_pump.mock:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/hotel.yaml

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
     action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
     status_types:
-      rotation: String
+      rotation: ''
     type: python
   config_info: []
   description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -22,7 +22,8 @@ xyz_stepper_controller:
               required:
               - degrees
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: degrees_to_steps参数
@@ -47,7 +48,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: emergency_stop参数
@@ -72,7 +74,10 @@ xyz_stepper_controller:
                   type: boolean
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: enable_all_axes参数
@@ -101,7 +106,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: enable_motor参数
@@ -122,7 +128,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: home_all_axes参数
@@ -147,7 +156,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: home_axis参数
@@ -188,7 +198,8 @@ xyz_stepper_controller:
               - axis
               - position
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position参数
@@ -229,7 +240,8 @@ xyz_stepper_controller:
               - axis
               - degrees
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_degrees参数
@@ -270,7 +282,8 @@ xyz_stepper_controller:
               - axis
               - revolutions
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: move_to_position_revolutions参数
@@ -301,14 +314,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x:
-                  type: string
+                  type: integer
                 y:
-                  type: string
+                  type: integer
                 z:
-                  type: string
+                  type: integer
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz参数
@@ -339,14 +355,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_deg:
-                  type: string
+                  type: number
                 y_deg:
-                  type: string
+                  type: number
                 z_deg:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_degrees参数
@@ -377,14 +396,17 @@ xyz_stepper_controller:
                   default: 5000
                   type: integer
                 x_rev:
-                  type: string
+                  type: number
                 y_rev:
-                  type: string
+                  type: number
                 z_rev:
-                  type: string
+                  type: number
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: move_xyz_revolutions参数
@@ -409,7 +431,8 @@ xyz_stepper_controller:
               required:
               - revolutions
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: revolutions_to_steps参数
@@ -442,7 +465,8 @@ xyz_stepper_controller:
               - axis
               - speed
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: set_speed_mode参数
@@ -467,7 +491,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_degrees参数
@@ -492,7 +517,8 @@ xyz_stepper_controller:
               required:
               - steps
               type: object
-            result: {}
+            result:
+              type: number
           required:
           - goal
           title: steps_to_revolutions参数
@@ -513,7 +539,10 @@ xyz_stepper_controller:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              additionalProperties:
+                type: boolean
+              type: object
           required:
           - goal
           title: stop_all_axes参数
@@ -542,7 +571,8 @@ xyz_stepper_controller:
               required:
               - axis
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: wait_for_completion参数
@@ -550,8 +580,7 @@ xyz_stepper_controller:
         type: UniLabJsonCommand
     module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
-      all_positions: dict
-      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
+      all_positions: Dict[MotorAxis, MotorPosition]
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
     data:
       properties:
         all_positions:
-          type: object
-        motor_status:
+          additionalProperties:
+            type: object
           type: object
       required:
-      - motor_status
       - all_positions
       type: object
-  registry_type: device
   version: 1.0.0

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,31 +5,6 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_status_summary:
         feedback: {}
         goal: {}
@@ -66,7 +41,8 @@ neware_battery_test_system:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: boolean
           required:
           - goal
           title: test_connection参数
@@ -77,9 +53,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 调试方法：显示所有资源的实际名称
           properties:
@@ -89,19 +64,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 资源调试信息
-                  type: string
-                success:
-                  description: 是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: debug_resource_names参数
           type: object
         type: UniLabJsonCommand
       export_status_json:
@@ -111,9 +77,8 @@ neware_battery_test_system:
         goal_default:
           filepath: bts_status.json
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 导出当前状态数据到JSON文件
           properties:
@@ -127,19 +92,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 导出操作结果信息
-                  type: string
-                success:
-                  description: 导出是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: export_status_json参数
           type: object
         type: UniLabJsonCommand
       get_device_summary:
@@ -181,10 +137,8 @@ neware_battery_test_system:
         goal_default:
           plate_num: null
         handles: {}
-        result:
-          plate_data: plate_data
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 获取指定盘或所有盘的状态信息
           properties:
@@ -193,29 +147,14 @@ neware_battery_test_system:
               properties:
                 plate_num:
                   description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
-                  maximum: 2
-                  minimum: 1
                   type: integer
               required: []
               type: object
             result:
-              properties:
-                plate_data:
-                  description: 盘状态数据（单盘或所有盘）
-                  type: object
-                return_info:
-                  description: 操作结果信息
-                  type: string
-                success:
-                  description: 查询是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
-              - plate_data
               type: object
           required:
           - goal
+          title: get_plate_status参数
           type: object
         type: UniLabJsonCommand
       print_status_summary_action:
@@ -223,9 +162,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 打印通道状态摘要信息到控制台
           properties:
@@ -235,28 +173,21 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 打印操作结果信息
-                  type: string
-                success:
-                  description: 打印是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: print_status_summary_action参数
           type: object
         type: UniLabJsonCommand
       query_plate_action:
         feedback: {}
         goal:
-          string: plate_id
+          plate_id: plate_id
+          string: string
         goal_default:
           string: ''
         handles: {}
+        placeholder_keys: {}
         result:
           return_info: return_info
           success: success
@@ -264,27 +195,23 @@ neware_battery_test_system:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -298,13 +225,11 @@ neware_battery_test_system:
           csv_path: string
           output_dir: string
         goal_default:
-          csv_path: ''
+          csv_path: null
           output_dir: .
         handles: {}
-        result:
-          return_info: return_info
-          submitted_count: submitted_count
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 从CSV文件批量提交Neware测试任务
           properties:
@@ -315,31 +240,17 @@ neware_battery_test_system:
                   description: 输入CSV文件的绝对路径
                   type: string
                 output_dir:
+                  default: .
                   description: 输出目录（用于存储XML和备份文件），默认当前目录
                   type: string
               required:
               - csv_path
               type: object
             result:
-              properties:
-                return_info:
-                  description: 执行结果详细信息
-                  type: string
-                submitted_count:
-                  description: 成功提交的任务数量
-                  type: integer
-                success:
-                  description: 是否成功
-                  type: boolean
-                total_count:
-                  description: CSV文件中的总行数
-                  type: integer
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: submit_from_csv参数
           type: object
         type: UniLabJsonCommand
       test_connection_action:
@@ -347,9 +258,8 @@ neware_battery_test_system:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
-          success: success
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 测试与电池测试系统的TCP连接
           properties:
@@ -359,19 +269,10 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 连接测试结果信息
-                  type: string
-                success:
-                  description: 连接测试是否成功
-                  type: boolean
-              required:
-              - return_info
-              - success
               type: object
           required:
           - goal
+          title: test_connection_action参数
           type: object
         type: UniLabJsonCommand
       upload_backup_to_oss:
@@ -392,12 +293,8 @@ neware_battery_test_system:
             handler_key: uploaded_files
             io_type: sink
             label: Uploaded Files (with standard flow info)
-        result:
-          failed_files: failed_files
-          return_info: return_info
-          success: success
-          total_count: total_count
-          uploaded_count: uploaded_count
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 上传备份文件到阿里云OSS
           properties:
@@ -417,65 +314,17 @@ neware_battery_test_system:
               required: []
               type: object
             result:
-              properties:
-                failed_files:
-                  description: 上传失败的文件名列表
-                  items:
-                    type: string
-                  type: array
-                return_info:
-                  description: 上传操作结果信息
-                  type: string
-                success:
-                  description: 上传是否成功
-                  type: boolean
-                total_count:
-                  description: 总文件数
-                  type: integer
-                uploaded_count:
-                  description: 成功上传的文件数
-                  type: integer
-                uploaded_files:
-                  description: 成功上传的文件详情列表
-                  items:
-                    properties:
-                      Battery_Code:
-                        description: 电池编码
-                        type: string
-                      Electrolyte_Code:
-                        description: 电解液编码
-                        type: string
-                      filename:
-                        description: 文件名
-                        type: string
-                      url:
-                        description: OSS下载链接
-                        type: string
-                    required:
-                    - filename
-                    - url
-                    - Battery_Code
-                    - Electrolyte_Code
-                    type: object
-                  type: array
-              required:
-              - return_info
-              - success
-              - uploaded_count
-              - total_count
-              - failed_files
-              - uploaded_files
               type: object
           required:
           - goal
+          title: upload_backup_to_oss参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
     status_types:
-      channel_status: dict
-      connection_info: dict
+      channel_status: Dict[int, Dict]
+      connection_info: Dict[str, str]
       device_summary: dict
-      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -517,23 +366,24 @@ neware_battery_test_system:
     data:
       properties:
         channel_status:
+          additionalProperties:
+            type: object
           type: object
         connection_info:
+          additionalProperties:
+            type: string
           type: object
         device_summary:
           type: object
-        plate_status:
-          type: object
         status:
           type: string
         total_channels:
           type: integer
       required:
-      - status
       - channel_status
       - connection_info
-      - total_channels
-      - plate_status
       - device_summary
+      - status
+      - total_channels
       type: object
   version: 1.0.0

unilabos/registry/devices/opcua_example.yaml

@@ -142,8 +142,7 @@ opcua_example:
           type: object
         type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
-    status_types:
-      node_value: String
+    status_types: {}
     type: python
   config_info: []
   description: null
@@ -167,10 +166,7 @@ opcua_example:
       - url
       type: object
     data:
-      properties:
-        node_value:
-          type: string
-      required:
-      - node_value
+      properties: {}
+      required: []
       type: object
   version: 1.0.0

unilabos/registry/devices/opsky_ATR30007.yaml

@@ -80,7 +80,8 @@ opsky_ATR30007:
                   type: string
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: run_once参数

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -100,42 +100,41 @@ rotavap.one:
           type: object
         type: UniLabJsonCommand
       set_timer:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -250,9 +249,13 @@ separator.homemade:
         feedback:
           status: status
         goal:
+          event: event
           settling_time: settling_time
           stir_speed: stir_speed
-          stir_time: stir_time,
+          stir_time: stir_time
+          time: time
+          time_spec: time_spec
+          vessel: vessel
         goal_default:
           event: ''
           settling_time: ''
@@ -281,34 +284,42 @@ separator.homemade:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: Stir_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 event:
                   type: string
                 settling_time:
                   type: string
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 time:
                   type: string
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -327,16 +338,26 @@ separator.homemade:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -346,12 +367,19 @@ separator.homemade:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -381,17 +409,10 @@ separator.homemade:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - time
-              - event
-              - time_spec
-              - stir_time
-              - stir_speed
-              - settling_time
               title: Stir_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -399,10 +420,6 @@ separator.homemade:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: Stir_Result
               type: object
           required:
@@ -418,36 +435,34 @@ separator.homemade:
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/post_process_station.yaml

@@ -28,31 +28,6 @@ post_process_station:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-print_cache_stats:
         feedback: {}
         goal: {}
@@ -104,42 +79,41 @@ post_process_station:
           type: object
         type: UniLabJsonCommand
       disconnect:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: {}
+          command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -149,42 +123,41 @@ post_process_station:
         type: SendCmd
       read_node:
         feedback:
-          result: result
+          status: status
         goal:
-          command: node_name
+          command: command
+          node_name: node_name
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -283,17 +256,19 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessTriggerClean_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 acetone_inner_wall_cleaning_count:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 acetone_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -304,6 +279,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -322,6 +299,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 acetone_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 acetone_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -348,6 +327,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -358,6 +339,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -376,6 +359,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 nmp_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 nmp_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -394,6 +379,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_inner_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_inner_wall_cleaning_waste_time:
                   maximum: 2147483647
@@ -404,6 +391,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_outer_wall_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_outer_wall_cleaning_wait_time:
                   maximum: 2147483647
@@ -422,6 +411,8 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 water_stirrer_cleaning_injection:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 water_stirrer_cleaning_wait_time:
                   maximum: 2147483647
@@ -431,55 +422,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - nmp_outer_wall_cleaning_injection
-              - nmp_outer_wall_cleaning_count
-              - nmp_outer_wall_cleaning_wait_time
-              - nmp_outer_wall_cleaning_waste_time
-              - nmp_inner_wall_cleaning_injection
-              - nmp_inner_wall_cleaning_count
-              - nmp_pump_cleaning_suction_count
-              - nmp_inner_wall_cleaning_waste_time
-              - nmp_stirrer_cleaning_injection
-              - nmp_stirrer_cleaning_count
-              - nmp_stirrer_cleaning_wait_time
-              - nmp_stirrer_cleaning_waste_time
-              - water_outer_wall_cleaning_injection
-              - water_outer_wall_cleaning_count
-              - water_outer_wall_cleaning_wait_time
-              - water_outer_wall_cleaning_waste_time
-              - water_inner_wall_cleaning_injection
-              - water_inner_wall_cleaning_count
-              - water_pump_cleaning_suction_count
-              - water_inner_wall_cleaning_waste_time
-              - water_stirrer_cleaning_injection
-              - water_stirrer_cleaning_count
-              - water_stirrer_cleaning_wait_time
-              - water_stirrer_cleaning_waste_time
-              - acetone_outer_wall_cleaning_injection
-              - acetone_outer_wall_cleaning_count
-              - acetone_outer_wall_cleaning_wait_time
-              - acetone_outer_wall_cleaning_waste_time
-              - acetone_inner_wall_cleaning_injection
-              - acetone_inner_wall_cleaning_count
-              - acetone_pump_cleaning_suction_count
-              - acetone_inner_wall_cleaning_waste_time
-              - acetone_stirrer_cleaning_injection
-              - acetone_stirrer_cleaning_count
-              - acetone_stirrer_cleaning_wait_time
-              - acetone_stirrer_cleaning_waste_time
-              - pipe_blowing_time
-              - injection_pump_forward_empty_suction_count
-              - injection_pump_reverse_empty_suction_count
-              - filtration_liquid_selection
               title: PostProcessTriggerClean_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerClean_Result
               type: object
           required:
@@ -502,11 +451,11 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessGrab_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 raw_tank_number:
                   maximum: 2147483647
@@ -516,17 +465,13 @@ post_process_station:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - reaction_tank_number
-              - raw_tank_number
               title: PostProcessGrab_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessGrab_Result
               type: object
           required:
@@ -573,13 +518,15 @@ post_process_station:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: PostProcessTriggerPostPro_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 atomization_fast_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 atomization_pressure_kpa:
                   maximum: 2147483647
@@ -594,8 +541,12 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 first_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 initial_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 injection_pump_push_speed:
                   maximum: 2147483647
@@ -622,32 +573,20 @@ post_process_station:
                   minimum: -2147483648
                   type: integer
                 second_wash_water_amount:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 wash_slow_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - atomization_fast_speed
-              - wash_slow_speed
-              - injection_pump_suction_speed
-              - injection_pump_push_speed
-              - raw_liquid_suction_count
-              - first_wash_water_amount
-              - second_wash_water_amount
-              - first_powder_mixing_tim
-              - second_powder_mixing_time
-              - first_powder_wash_count
-              - second_powder_wash_count
-              - initial_water_amount
-              - pre_filtration_mixing_time
-              - atomization_pressure_kpa
               title: PostProcessTriggerPostPro_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: PostProcessTriggerPostPro_Result
               type: object
           required:
@@ -669,30 +608,26 @@ post_process_station:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -702,8 +637,7 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      cache_stats: dict
-      node_value: String
+      cache_stats: Dict[str, Any]
     type: python
   config_info: []
   description: 后处理站
@@ -718,7 +652,9 @@ post_process_station:
         config_path:
           type: string
         deck:
-          type: string
+          anyOf:
+          - type: object
+          - type: object
         password:
           type: string
         subscription_interval:
@@ -738,10 +674,7 @@ post_process_station:
       properties:
         cache_stats:
           type: object
-        node_value:
-          type: string
       required:
-      - node_value
       - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/pump_and_valve.yaml

@@ -136,36 +136,36 @@ solenoid_valve:
       set_valve_position:
         feedback: {}
         goal:
-          string: position
+          position: position
+          string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -278,26 +278,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -310,26 +309,25 @@ solenoid_valve.mock:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
-      velocity_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0
 syringe_pump_with_valve.runze.SY03B-T08:
@@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-pull_plunger:
         feedback: {}
         goal: {}
@@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 position:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
+                  - type: number
               required:
               - position
               type: object
@@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 velocity:
-                  type: string
+                  anyOf:
+                  - type: integer
+                  - type: string
               required:
               - velocity
               type: object
@@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
     status_types:
       max_velocity: float
       mode: int
-      plunger_position: String
+      plunger_position: ''
       position: float
       status: str
       valve_position: str
-      velocity_end: String
-      velocity_grade: String
-      velocity_init: String
+      velocity_end: ''
+      velocity_grade: ''
+      velocity_init: ''
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
         velocity_init:
           type: string
       required:
-      - status
-      - mode
       - max_velocity
+      - mode
+      - plunger_position
+      - position
+      - status
+      - valve_position
+      - velocity_end
       - velocity_grade
       - velocity_init
-      - velocity_end
-      - valve_position
-      - position
-      - plunger_position
       type: object
   version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -13,12 +13,13 @@ reaction_station.bioyond:
           start_point: start_point
           start_step_key: start_step_key
         goal_default:
-          duration: 0
+          duration: null
           end_point: 0
           end_step_key: ''
           start_point: 0
           start_step_key: ''
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -30,23 +31,19 @@ reaction_station.bioyond:
                   description: 时间(秒)
                   type: integer
                 end_point:
-                  default: Start
+                  default: 0
                   description: 终点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 end_step_key:
+                  default: ''
                   description: 终点步骤Key (可选, 默认为空则自动选择)
                   type: string
                 start_point:
-                  default: Start
+                  default: 0
                   description: 起点计时点 (Start=开始前, End=结束后)
-                  enum:
-                  - Start
-                  - End
-                  type: string
+                  type: integer
                 start_step_key:
+                  default: ''
                   description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
                   type: string
               required:
@@ -98,7 +95,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: create_order参数
@@ -125,7 +123,8 @@ reaction_station.bioyond:
               required:
               - workflow_ids
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: hard_delete_merged_workflows参数
@@ -150,7 +149,8 @@ reaction_station.bioyond:
               required:
               - json_str
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: merge_workflow_with_parameters参数
@@ -175,7 +175,8 @@ reaction_station.bioyond:
               required:
               - report_request
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_temperature_cutoff_report参数
@@ -200,7 +201,12 @@ reaction_station.bioyond:
               required:
               - web_workflow_json
               type: object
-            result: {}
+            result:
+              items:
+                additionalProperties:
+                  type: string
+                type: object
+              type: array
           required:
           - goal
           title: process_web_workflows参数
@@ -229,7 +235,8 @@ reaction_station.bioyond:
               - reactor_id
               - temperature
               type: object
-            result: {}
+            result:
+              type: string
           required:
           - goal
           title: set_reactor_temperature参数
@@ -254,7 +261,8 @@ reaction_station.bioyond:
               required:
               - preintake_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: skip_titration_steps参数
@@ -275,7 +283,8 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: sync_workflow_sequence_from_bioyond参数
@@ -307,7 +316,8 @@ reaction_station.bioyond:
                   type: integer
               required: []
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: wait_for_multiple_orders_and_get_reports参数
@@ -359,7 +369,8 @@ reaction_station.bioyond:
               required:
               - workflow_id
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: workflow_step_query参数
@@ -370,9 +381,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          code: code
-          message: message
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 清空服务端所有非核心工作流 (保留核心流程)
           properties:
@@ -382,13 +392,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功)
-                  type: integer
-                message:
-                  description: 结果描述
-                  type: string
               type: object
           required:
           - goal
@@ -405,13 +408,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '90'
+          titration_type: '1'
+          torque_variation: 2
+          volume: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 滴回去
@@ -423,33 +427,27 @@ reaction_station.bioyond:
                   description: 物料名称（不能为空）
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '90'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 2
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液公式(mL)
                   type: string
               required:
-              - volume
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              - volume
               type: object
             result: {}
           required:
@@ -462,7 +460,7 @@ reaction_station.bioyond:
         goal:
           batch_reports_result: batch_reports_result
         goal_default:
-          batch_reports_result: ''
+          batch_reports_result: null
         handles:
           input:
           - data_key: batch_reports_result
@@ -478,8 +476,8 @@ reaction_station.bioyond:
             handler_key: ACTUALS_EXTRACTED
             io_type: sink
             label: Extracted Actuals
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
           properties:
@@ -493,13 +491,6 @@ reaction_station.bioyond:
               - batch_reports_result
               type: object
             result:
-              properties:
-                return_info:
-                  description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
-                    actualVolume
-                  type: string
-              required:
-              - return_info
               title: extract_actuals_from_batch_reports结果
               type: object
           required:
@@ -517,13 +508,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume: ''
+          assign_material_name: BAPP
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          volume: '350'
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料烧杯
@@ -532,36 +524,30 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
+                  default: BAPP
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
+                  default: '350'
                   description: 分液公式(mL)
                   type: string
-              required:
-              - volume
-              - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
+              required: []
               type: object
             result: {}
           required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume: volume
         goal_default:
-          assign_material_name: ''
-          solvents: ''
-          temperature: '25.00'
+          assign_material_name: null
+          solvents: null
+          temperature: 25.0
           time: '360'
           titration_type: '1'
-          torque_variation: '2'
-          volume: ''
+          torque_variation: 2
+          volume: null
         handles:
           input:
           - data_key: solvents
@@ -595,6 +581,7 @@ reaction_station.bioyond:
             handler_key: solvents
             io_type: source
             label: Solvents Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -609,27 +596,21 @@ reaction_station.bioyond:
                   description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '360'
                   description: 观察时间(分钟),默认360
                   type: string
                 titration_type:
-                  default: 'NO'
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是),默认NO
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume:
                   description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
                   type: string
@@ -655,15 +636,15 @@ reaction_station.bioyond:
           volume_formula: volume_formula
           x_value: x_value
         goal_default:
-          assign_material_name: ''
-          extracted_actuals: ''
-          feeding_order_data: ''
-          temperature: '25.00'
+          assign_material_name: null
+          extracted_actuals: null
+          feeding_order_data: null
+          temperature: 25.0
           time: '90'
           titration_type: '2'
-          torque_variation: '2'
-          volume_formula: ''
-          x_value: ''
+          torque_variation: 2
+          volume_formula: null
+          x_value: null
         handles:
           input:
           - data_key: extracted_actuals
@@ -678,6 +659,7 @@ reaction_station.bioyond:
             handler_key: feeding_order
             io_type: source
             label: Feeding Order Data From Calculation Node
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -696,27 +678,21 @@ reaction_station.bioyond:
                     {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
-                  default: '25.00'
+                  default: 25.0
                   description: 温度设定(°C),默认25.00
-                  type: string
+                  type: number
                 time:
                   default: '90'
                   description: 观察时间(分钟),默认90
                   type: string
                 titration_type:
-                  default: 'YES'
+                  default: '2'
                   description: 是否滴定(NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
-                  default: 'YES'
+                  default: 2
                   description: 是否观察 (NO=否, YES=是),默认YES
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume_formula:
                   description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
                   type: string
@@ -742,13 +718,14 @@ reaction_station.bioyond:
           torque_variation: torque_variation
           volume_formula: volume_formula
         goal_default:
-          assign_material_name: ''
-          temperature: ''
-          time: ''
-          titration_type: ''
-          torque_variation: ''
-          volume_formula: ''
+          assign_material_name: null
+          temperature: 25.0
+          time: '0'
+          titration_type: '1'
+          torque_variation: 1
+          volume_formula: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 液体进料小瓶(非滴定)
@@ -760,33 +737,27 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 titration_type:
+                  default: '1'
                   description: 是否滴定(NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
                 volume_formula:
                   description: 分液公式(mL)
                   type: string
               required:
               - volume_formula
               - assign_material_name
-              - time
-              - torque_variation
-              - titration_type
-              - temperature
               type: object
             result: {}
           required:
@@ -800,9 +771,10 @@ reaction_station.bioyond:
           task_name: task_name
           workflow_name: workflow_name
         goal_default:
-          task_name: ''
-          workflow_name: ''
+          task_name: null
+          workflow_name: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 处理并执行工作流
@@ -820,7 +792,8 @@ reaction_station.bioyond:
               - workflow_name
               - task_name
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: process_and_execute_workflow参数
@@ -833,10 +806,11 @@ reaction_station.bioyond:
           cutoff: cutoff
           temperature: temperature
         goal_default:
-          assign_material_name: ''
-          cutoff: ''
-          temperature: ''
+          assign_material_name: null
+          cutoff: '900000'
+          temperature: -10.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -848,14 +822,14 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 cutoff:
+                  default: '900000'
                   description: 粘度上限
                   type: string
                 temperature:
+                  default: -10.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
               required:
-              - cutoff
-              - temperature
               - assign_material_name
               type: object
             result: {}
@@ -869,6 +843,7 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -878,15 +853,7 @@ reaction_station.bioyond:
               properties: {}
               required: []
               type: object
-            result:
-              properties:
-                code:
-                  description: 操作结果代码(1表示成功,0表示失败)
-                  type: integer
-                return_info:
-                  description: 操作结果详细信息
-                  type: string
-              type: object
+            result: {}
           required:
           - goal
           title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
         goal: {}
         goal_default: {}
         handles: {}
-        result:
-          return_info: return_info
+        placeholder_keys: {}
+        result: {}
         schema:
           description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
           properties:
@@ -908,12 +875,6 @@ reaction_station.bioyond:
               required: []
               type: object
             result:
-              properties:
-                return_info:
-                  description: 调度器启动结果，成功返回1，失败返回0
-                  type: integer
-              required:
-              - return_info
               title: scheduler_start结果
               type: object
           required:
@@ -930,12 +891,13 @@ reaction_station.bioyond:
           time: time
           torque_variation: torque_variation
         goal_default:
-          assign_material_name: ''
-          material_id: ''
-          temperature: ''
-          time: ''
-          torque_variation: ''
+          assign_material_name: null
+          material_id: null
+          temperature: 25.0
+          time: '0'
+          torque_variation: 1
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -948,29 +910,21 @@ reaction_station.bioyond:
                   type: string
                 material_id:
                   description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
-                  enum:
-                  - Salt
-                  - Flour
-                  - BTDA
                   type: string
                 temperature:
+                  default: 25.0
                   description: 温度设定(°C)
-                  type: string
+                  type: number
                 time:
+                  default: '0'
                   description: 观察时间(分钟)
                   type: string
                 torque_variation:
+                  default: 1
                   description: 是否观察 (NO=否, YES=是)
-                  enum:
-                  - 'NO'
-                  - 'YES'
-                  type: string
+                  type: integer
               required:
-              - assign_material_name
               - material_id
-              - time
-              - torque_variation
-              - temperature
               type: object
             result: {}
           required:

unilabos/registry/devices/robot_agv.yaml

@@ -37,42 +37,41 @@ agv.SEER:
           type: object
         type: UniLabJsonCommand
       send_nav_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/robot_arm.yaml

@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
           type: object
         type: UniLabJsonCommand
       move_pos_task:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
           type: string
       required:
       - arm_pose
-      - gripper_pose
       - arm_status
+      - gripper_pose
       - gripper_status
       type: object
   version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
           type: object
         type: UniLabJsonCommand
       modbus_task_cmd:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
         type: SendCmd
     module: unilabos.devices.arm.elite_robot:EliteRobot
     status_types:
-      actual_joint_positions: String
-      arm_pose: String
+      actual_joint_positions: ''
+      arm_pose: list[float]
     type: python
   config_info: []
   description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
             type: number
           type: array
       required:
-      - arm_pose
       - actual_joint_positions
+      - arm_pose
       type: object
   model:
     mesh: elite_robot

unilabos/registry/devices/robot_gripper.yaml

@@ -114,11 +114,12 @@ gripper.misumi_rz:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -398,30 +399,26 @@ gripper.misumi_rz:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -504,71 +501,82 @@ gripper.mock:
         type: UniLabJsonCommand
       push_to:
         feedback:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         goal:
-          command.max_effort: torque
-          command.position: position
+          command: command
+          position: position
+          torque: torque
+          velocity: velocity
         goal_default:
           command:
             max_effort: 0.0
             position: 0.0
         handles: {}
+        placeholder_keys: {}
         result:
-          effort: torque
+          effort: effort
           position: position
+          reached_goal: reached_goal
+          stalled: stalled
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
+                  additionalProperties: false
                   properties:
                     max_effort:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                     position:
+                      maximum: 1.7976931348623157e+308
+                      minimum: -1.7976931348623157e+308
                       type: number
                   required:
                   - position
                   - max_effort
                   title: command
                   type: object
-              required:
-              - command
               title: GripperCommand_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 effort:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 reached_goal:
                   type: boolean
                 stalled:
                   type: boolean
-              required:
-              - position
-              - effort
-              - stalled
-              - reached_goal
               title: GripperCommand_Result
               type: object
           required:
@@ -604,8 +612,8 @@ gripper.mock:
           type: number
       required:
       - position
-      - velocity
-      - torque
       - status
+      - torque
+      - velocity
       type: object
   version: 1.0.0

unilabos/registry/devices/robot_linear_motion.yaml

@@ -24,6 +24,27 @@ linear_motion.grbl:
           title: initialize参数
           type: object
         type: UniLabJsonCommand
+      auto-list:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: list的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: list参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_position:
         feedback: {}
         goal: {}
@@ -93,44 +114,39 @@ linear_motion.grbl:
         type: UniLabJsonCommandAsync
       move_through_points:
         feedback:
-          current_pose.pose.position: position
-          estimated_time_remaining.sec: time_remaining
-          navigation_time.sec: time_spent
-          number_of_poses_remaining: pose_number_remaining
+          current_pose: current_pose
+          distance_remaining: distance_remaining
+          estimated_time_remaining: estimated_time_remaining
+          navigation_time: navigation_time
+          number_of_poses_remaining: number_of_poses_remaining
+          number_of_recoveries: number_of_recoveries
         goal:
-          poses[].pose.position: positions[]
+          behavior_tree: behavior_tree
+          poses: poses
+          positions: positions
         goal_default:
           behavior_tree: ''
-          poses:
-          - header:
-              frame_id: ''
-              stamp:
-                nanosec: 0
-                sec: 0
-            pose:
-              orientation:
-                w: 1.0
-                x: 0.0
-                y: 0.0
-                z: 0.0
-              position:
-                x: 0.0
-                y: 0.0
-                z: 0.0
+          poses: []
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          result: result
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 current_pose:
+                  additionalProperties: false
                   properties:
                     header:
+                      additionalProperties: false
                       properties:
                         frame_id:
                           type: string
                         stamp:
+                          additionalProperties: false
                           properties:
                             nanosec:
                               maximum: 4294967295
@@ -151,16 +167,26 @@ linear_motion.grbl:
                       title: header
                       type: object
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -170,12 +196,19 @@ linear_motion.grbl:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -194,8 +227,11 @@ linear_motion.grbl:
                   title: current_pose
                   type: object
                 distance_remaining:
+                  maximum: 3.4028235e+38
+                  minimum: -3.4028235e+38
                   type: number
                 estimated_time_remaining:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -211,6 +247,7 @@ linear_motion.grbl:
                   title: estimated_time_remaining
                   type: object
                 navigation_time:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -233,16 +270,10 @@ linear_motion.grbl:
                   maximum: 32767
                   minimum: -32768
                   type: integer
-              required:
-              - current_pose
-              - navigation_time
-              - estimated_time_remaining
-              - number_of_recoveries
-              - distance_remaining
-              - number_of_poses_remaining
               title: NavigateThroughPoses_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 behavior_tree:
                   type: string
@@ -256,12 +287,8 @@ linear_motion.grbl:
                           stamp:
                             properties:
                               nanosec:
-                                maximum: 4294967295
-                                minimum: 0
                                 type: integer
                               sec:
-                                maximum: 2147483647
-                                minimum: -2147483648
                                 type: integer
                             required:
                             - sec
@@ -314,23 +341,17 @@ linear_motion.grbl:
                     required:
                     - header
                     - pose
-                    title: poses
                     type: object
                   type: array
-              required:
-              - poses
-              - behavior_tree
               title: NavigateThroughPoses_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 result:
-                  properties: {}
-                  required: []
+                  additionalProperties: true
                   title: result
                   type: object
-              required:
-              - result
               title: NavigateThroughPoses_Result
               type: object
           required:
@@ -340,9 +361,15 @@ linear_motion.grbl:
         type: NavigateThroughPoses
       set_spindle_speed:
         feedback:
-          position: spindle_speed
+          error: error
+          header: header
+          position: position
+          velocity: velocity
         goal:
-          position: spindle_speed
+          max_velocity: max_velocity
+          min_duration: min_duration
+          position: position
+          spindle_speed: spindle_speed
         goal_default:
           max_velocity: 0.0
           min_duration:
@@ -350,19 +377,25 @@ linear_motion.grbl:
             sec: 0
           position: 0.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 error:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 header:
+                  additionalProperties: false
                   properties:
                     frame_id:
                       type: string
                     stamp:
+                      additionalProperties: false
                       properties:
                         nanosec:
                           maximum: 4294967295
@@ -383,21 +416,24 @@ linear_motion.grbl:
                   title: header
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - header
-              - position
-              - velocity
-              - error
               title: SingleJointPosition_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 max_velocity:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 min_duration:
+                  additionalProperties: false
                   properties:
                     nanosec:
                       maximum: 4294967295
@@ -413,16 +449,13 @@ linear_motion.grbl:
                   title: min_duration
                   type: object
                 position:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - position
-              - min_duration
-              - max_velocity
               title: SingleJointPosition_Goal
               type: object
             result:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: SingleJointPosition_Result
               type: object
           required:
@@ -432,7 +465,7 @@ linear_motion.grbl:
         type: SingleJointPosition
     module: unilabos.devices.cnc.grbl_sync:GrblCNC
     status_types:
-      position: unilabos.messages:Point3D
+      position: Point3D
       spindle_speed: float
       status: str
     type: python
@@ -471,9 +504,9 @@ linear_motion.grbl:
         status:
           type: string
       required:
-      - status
       - position
       - spindle_speed
+      - status
       type: object
   version: 1.0.0
 linear_motion.toyo_xyz.sim:
@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
           title: moveit_task参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: object
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-resource_manager:
         feedback: {}
         goal: {}
@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_position:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: SendCmd
       set_status:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -939,30 +947,26 @@ motor.iCL42:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -1000,8 +1004,8 @@ motor.iCL42:
         success:
           type: boolean
       required:
-      - motor_position
       - is_executing_run
+      - motor_position
       - success
       type: object
   version: 1.0.0

unilabos/registry/devices/solid_dispenser.yaml

@@ -14,19 +14,24 @@ solid_dispenser.laiyu:
           powder_tube_number: 0
           target_tube_position: ''
         handles: {}
+        placeholder_keys: {}
         result:
           actual_mass_mg: actual_mass_mg
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: SolidDispenseAddPowderTube_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 compound_mass:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 powder_tube_number:
                   maximum: 2147483647
@@ -34,24 +39,19 @@ solid_dispenser.laiyu:
                   type: integer
                 target_tube_position:
                   type: string
-              required:
-              - powder_tube_number
-              - target_tube_position
-              - compound_mass
               title: SolidDispenseAddPowderTube_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 actual_mass_mg:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - actual_mass_mg
-              - success
               title: SolidDispenseAddPowderTube_Result
               type: object
           required:
@@ -74,11 +74,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: calculate_crc参数
@@ -99,11 +100,12 @@ solid_dispenser.laiyu:
             goal:
               properties:
                 command:
-                  type: string
+                  type: object
               required:
               - command
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: send_command参数
@@ -112,36 +114,37 @@ solid_dispenser.laiyu:
       discharge:
         feedback: {}
         goal:
-          float_input: float_input
+          float_in: float_in
         goal_default:
           float_in: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: FloatSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 float_in:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - float_in
               title: FloatSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: FloatSingleInput_Result
               type: object
           required:
@@ -156,32 +159,31 @@ solid_dispenser.laiyu:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -200,38 +202,41 @@ solid_dispenser.laiyu:
           y: 0.0
           z: 0.0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: Point3DSeparateInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 x:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 y:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 z:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
-              required:
-              - x
-              - y
-              - z
               title: Point3DSeparateInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: Point3DSeparateInput_Result
               type: object
           required:
@@ -246,34 +251,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -288,34 +292,33 @@ solid_dispenser.laiyu:
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -328,26 +331,25 @@ solid_dispenser.laiyu:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:

unilabos/registry/devices/temperature.yaml

@@ -34,7 +34,8 @@ chiller:
               - register_address
               - value
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: build_modbus_frame参数
@@ -63,7 +64,8 @@ chiller:
               required:
               - temperature
               type: object
-            result: {}
+            result:
+              type: integer
           required:
           - goal
           title: convert_temperature_to_modbus_value参数
@@ -84,11 +86,12 @@ chiller:
             goal:
               properties:
                 data:
-                  type: string
+                  type: object
               required:
               - data
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: modbus_crc参数
@@ -116,42 +119,41 @@ chiller:
           type: object
         type: UniLabJsonCommand
       set_temperature:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -266,9 +268,15 @@ heaterstirrer.dalong:
         feedback:
           status: status
         goal:
+          pressure: pressure
           purpose: purpose
+          reflux_solvent: reflux_solvent
+          stir: stir
+          stir_speed: stir_speed
           temp: temp
+          temp_spec: temp_spec
           time: time
+          time_spec: time_spec
           vessel: vessel
         goal_default:
           pressure: ''
@@ -301,20 +309,23 @@ heaterstirrer.dalong:
             sample_id: ''
             type: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          message: message
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: HeatChill_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 pressure:
                   type: string
@@ -325,8 +336,12 @@ heaterstirrer.dalong:
                 stir:
                   type: boolean
                 stir_speed:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp:
+                  maximum: 1.7976931348623157e+308
+                  minimum: -1.7976931348623157e+308
                   type: number
                 temp_spec:
                   type: string
@@ -335,6 +350,7 @@ heaterstirrer.dalong:
                 time_spec:
                   type: string
                 vessel:
+                  additionalProperties: false
                   properties:
                     category:
                       type: string
@@ -353,16 +369,26 @@ heaterstirrer.dalong:
                     parent:
                       type: string
                     pose:
+                      additionalProperties: false
                       properties:
                         orientation:
+                          additionalProperties: false
                           properties:
                             w:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -372,12 +398,19 @@ heaterstirrer.dalong:
                           title: orientation
                           type: object
                         position:
+                          additionalProperties: false
                           properties:
                             x:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             y:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                             z:
+                              maximum: 1.7976931348623157e+308
+                              minimum: -1.7976931348623157e+308
                               type: number
                           required:
                           - x
@@ -407,20 +440,10 @@ heaterstirrer.dalong:
                   - data
                   title: vessel
                   type: object
-              required:
-              - vessel
-              - temp
-              - time
-              - temp_spec
-              - time_spec
-              - pressure
-              - reflux_solvent
-              - stir
-              - stir_speed
-              - purpose
               title: HeatChill_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 message:
                   type: string
@@ -428,10 +451,6 @@ heaterstirrer.dalong:
                   type: string
                 success:
                   type: boolean
-              required:
-              - success
-              - message
-              - return_info
               title: HeatChill_Result
               type: object
           required:
@@ -440,42 +459,42 @@ heaterstirrer.dalong:
           type: object
         type: HeatChill
       set_temp_target:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -484,42 +503,42 @@ heaterstirrer.dalong:
           type: object
         type: SendCmd
       set_temp_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
-          command: temp
+          command: command
+          temp: temp
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:
@@ -569,8 +588,8 @@ heaterstirrer.dalong:
       - status
       - stir_speed
       - temp
-      - temp_warning
       - temp_target
+      - temp_warning
       type: object
   version: 1.0.0
 tempsensor:
@@ -691,42 +710,41 @@ tempsensor:
           type: object
         type: UniLabJsonCommand
       set_warning:
-        feedback: {}
+        feedback:
+          status: status
         goal:
           command: command
         goal_default:
           command: ''
         handles: {}
+        placeholder_keys: {}
         result:
+          return_info: return_info
           success: success
         schema:
           description: ''
           properties:
             feedback:
+              additionalProperties: false
               properties:
                 status:
                   type: string
-              required:
-              - status
               title: SendCmd_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 command:
                   type: string
-              required:
-              - command
               title: SendCmd_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: SendCmd_Result
               type: object
           required:

unilabos/registry/devices/xrd_d7mate.yaml

@@ -45,31 +45,6 @@ xrd_d7mate:
           title: connect参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-start_from_string:
         feedback: {}
         goal: {}
@@ -85,11 +60,14 @@ xrd_d7mate:
             goal:
               properties:
                 params:
-                  type: string
+                  anyOf:
+                  - type: string
+                  - type: object
               required:
               - params
               type: object
-            result: {}
+            result:
+              type: object
           required:
           - goal
           title: start_from_string参数
@@ -105,21 +83,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -130,38 +105,38 @@ xrd_d7mate:
       get_sample_down:
         feedback: {}
         goal:
-          sample_station: 1
+          int_input: int_input
+          sample_station: sample_station
         goal_default:
           int_input: 0
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: IntSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 int_input:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-              required:
-              - int_input
               title: IntSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: IntSingleInput_Result
               type: object
           required:
@@ -179,21 +154,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -211,21 +183,18 @@ xrd_d7mate:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -238,26 +207,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -274,42 +242,35 @@ xrd_d7mate:
           sample_id: ''
           start_theta: 10.0
         goal_default:
-          end_theta: 80.0
-          exp_time: 0.5
-          increment: 0.02
-          sample_id: Sample001
-          start_theta: 10.0
+          end_theta: null
+          exp_time: null
+          increment: null
+          sample_id: null
+          start_theta: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 送样完成后，发送样品信息和采集参数
           properties:
             feedback:
-              properties: {}
-              required: []
               title: SampleReadyInput_Feedback
-              type: object
             goal:
               properties:
                 end_theta:
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
                   type: number
                 exp_time:
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
                   type: number
                 increment:
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
                   type: number
                 sample_id:
                   description: 样品标识符
                   type: string
                 start_theta:
                   description: 起始角度（≥5°）
-                  minimum: 5.0
                   type: number
               required:
               - sample_id
@@ -320,19 +281,11 @@ xrd_d7mate:
               title: SampleReadyInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: SampleReadyInput_Result
               type: object
           required:
           - goal
-          title: SampleReadyInput
+          title: send_sample_ready参数
           type: object
         type: UniLabJsonCommand
       set_power_off:
@@ -340,26 +293,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -372,26 +324,25 @@ xrd_d7mate:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -405,18 +356,16 @@ xrd_d7mate:
           current: 30.0
           voltage: 40.0
         goal_default:
-          current: 30.0
-          voltage: 40.0
+          current: null
+          voltage: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 设置高压电源电压和电流
           properties:
             feedback:
-              properties: {}
-              required: []
               title: VoltageCurrentInput_Feedback
-              type: object
             goal:
               properties:
                 current:
@@ -431,19 +380,11 @@ xrd_d7mate:
               title: VoltageCurrentInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: VoltageCurrentInput_Result
               type: object
           required:
           - goal
-          title: VoltageCurrentInput
+          title: set_voltage_current参数
           type: object
         type: UniLabJsonCommand
       start:
@@ -453,11 +394,12 @@ xrd_d7mate:
           end_theta: 80.0
           exp_time: 0.1
           increment: 0.05
-          sample_id: 样品名称
+          sample_id: ''
           start_theta: 10.0
           string: ''
           wait_minutes: 3.0
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -466,54 +408,42 @@ xrd_d7mate:
             goal:
               properties:
                 end_theta:
+                  default: 80.0
                   description: 结束角度（≥5.5°，且必须大于start_theta）
-                  minimum: 5.5
-                  type: string
+                  type: number
                 exp_time:
+                  default: 0.1
                   description: 曝光时间（0.1-5.0秒）
-                  maximum: 5.0
-                  minimum: 0.1
-                  type: string
+                  type: number
                 increment:
+                  default: 0.05
                   description: 角度增量（≥0.005）
-                  minimum: 0.005
-                  type: string
+                  type: number
                 sample_id:
+                  default: ''
                   description: 样品标识符
                   type: string
                 start_theta:
+                  default: 10.0
                   description: 起始角度（≥5°）
-                  minimum: 5.0
-                  type: string
+                  type: number
                 string:
+                  default: ''
                   description: 字符串格式的参数输入，如果提供则优先解析使用
                   type: string
                 wait_minutes:
+                  default: 3.0
                   description: 允许上样后等待分钟数
-                  minimum: 0.0
                   type: number
-              required:
-              - sample_id
-              - start_theta
-              - end_theta
-              - increment
-              - exp_time
+              required: []
               title: StartWorkflow_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: StartWorkflow_Result
               type: object
           required:
           - goal
-          title: StartWorkflow
+          title: start参数
           type: object
         type: UniLabJsonCommand
       start_auto_mode:
@@ -521,17 +451,15 @@ xrd_d7mate:
         goal:
           status: true
         goal_default:
-          status: true
+          status: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: 启动或停止自动模式
           properties:
             feedback:
-              properties: {}
-              required: []
               title: BoolSingleInput_Feedback
-              type: object
             goal:
               properties:
                 status:
@@ -542,25 +470,16 @@ xrd_d7mate:
               title: BoolSingleInput_Goal
               type: object
             result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
               title: BoolSingleInput_Result
               type: object
           required:
           - goal
-          title: BoolSingleInput
+          title: start_auto_mode参数
           type: object
         type: UniLabJsonCommand
     module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
     status_types:
       current_acquire_data: dict
-      sample_down: dict
       sample_request: dict
       sample_status: dict
     type: python
@@ -586,16 +505,13 @@ xrd_d7mate:
       properties:
         current_acquire_data:
           type: object
-        sample_down:
-          type: object
         sample_request:
           type: object
         sample_status:
           type: object
       required:
-      - sample_request
       - current_acquire_data
+      - sample_request
       - sample_status
-      - sample_down
       type: object
   version: 1.0.0

unilabos/registry/devices/zhida_gcms.yaml

@@ -8,26 +8,25 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -77,31 +76,6 @@ zhida_gcms:
           title: connect参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       get_methods:
         feedback: {}
         goal: {}
@@ -112,21 +86,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -144,21 +115,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -176,21 +144,18 @@ zhida_gcms:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -203,26 +168,25 @@ zhida_gcms:
         goal: {}
         goal_default: {}
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -234,35 +198,35 @@ zhida_gcms:
         feedback: {}
         goal:
           string: string
+          text: text
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -273,36 +237,36 @@ zhida_gcms:
       start_with_csv_file:
         feedback: {}
         goal:
+          csv_file_path: csv_file_path
           string: string
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:
@@ -343,8 +307,8 @@ zhida_gcms:
         version:
           type: object
       required:
-      - status
       - methods
+      - status
       - version
       type: object
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle.yaml

@@ -9,7 +9,6 @@ YB_20ml_fenyeping:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_5ml_fenyeping:
   category:
@@ -22,7 +21,6 @@ YB_5ml_fenyeping:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_jia_yang_tou_da:
   category:
@@ -35,7 +33,6 @@ YB_jia_yang_tou_da:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_pei_ye_da_Bottle:
   category:
@@ -48,7 +45,6 @@ YB_pei_ye_da_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_pei_ye_xiao_Bottle:
   category:
@@ -61,7 +57,6 @@ YB_pei_ye_xiao_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_qiang_tou:
   category:
@@ -74,7 +69,6 @@ YB_qiang_tou:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye_Bottle:
   category:
@@ -88,5 +82,4 @@ YB_ye_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml

@@ -9,7 +9,6 @@ YB_100ml_yeti:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_20ml_fenyepingban:
   category:
@@ -22,7 +21,6 @@ YB_20ml_fenyepingban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_5ml_fenyepingban:
   category:
@@ -35,7 +33,6 @@ YB_5ml_fenyepingban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6StockCarrier:
   category:
@@ -48,7 +45,6 @@ YB_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_6VialCarrier:
   category:
@@ -61,7 +57,6 @@ YB_6VialCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_gao_nian_ye_Bottle:
   category:
@@ -74,7 +69,6 @@ YB_gao_nian_ye_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_gaonianye:
   category:
@@ -87,7 +81,6 @@ YB_gaonianye:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_jia_yang_tou_da_Carrier:
   category:
@@ -100,7 +93,6 @@ YB_jia_yang_tou_da_Carrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_peiyepingdaban:
   category:
@@ -113,7 +105,6 @@ YB_peiyepingdaban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_peiyepingxiaoban:
   category:
@@ -126,7 +117,6 @@ YB_peiyepingxiaoban:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_qiang_tou_he:
   category:
@@ -139,7 +129,6 @@ YB_qiang_tou_he:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_shi_pei_qi_kuai:
   category:
@@ -152,7 +141,6 @@ YB_shi_pei_qi_kuai:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye:
   category:
@@ -165,7 +153,6 @@ YB_ye:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 YB_ye_100ml_Bottle:
   category:
@@ -178,5 +165,4 @@ YB_ye_100ml_Bottle:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerStation_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_1FlaskCarrier:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerStation_1FlaskCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_6StockCarrier:
   category:
@@ -32,7 +30,6 @@ BIOYOND_PolymerStation_6StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerStation_8StockCarrier:
   category:
@@ -44,5 +41,4 @@ BIOYOND_PolymerStation_8StockCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -8,7 +8,6 @@ BIOYOND_PolymerPreparationStation_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_PolymerReactionStation_Deck:
   category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerReactionStation_Deck:
   handles: []
   icon: 反应站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 BIOYOND_YB_Deck:
   category:
@@ -32,7 +30,6 @@ BIOYOND_YB_Deck:
   handles: []
   icon: 配液站.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 CoincellDeck:
   category:
@@ -44,5 +41,4 @@ CoincellDeck:
   handles: []
   icon: koudian.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/common/resource_container.yaml

@@ -1,24 +1,3 @@
-disposal:
-  category:
-  - disposal
-  - waste
-  - resource_container
-  class:
-    module: unilabos.resources.disposal:Disposal
-    type: unilabos
-  description: 废料处理位置，用于处理实验废料
-  handles:
-  - data_key: disposal_access
-    data_source: handle
-    data_type: fluid
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
 hplc_plate:
   category:
   - resource_container
@@ -40,56 +19,6 @@ hplc_plate:
     - 3.1416
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-maintenance:
-  category:
-  - maintenance
-  - position
-  - resource_container
-  class:
-    module: unilabos.resources.maintenance:Maintenance
-    type: unilabos
-  description: 维护位置，用于设备维护和校准
-  handles:
-  - data_key: maintenance_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-plate:
-  category:
-  - plate
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.plate:Plate
-    type: unilabos
-  description: 实验板，用于放置样品和试剂
-  handles:
-  - data_key: plate_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: sample_wells
-    data_source: handle
-    data_type: fluid
-    handler_key: wells
-    io_type: target
-    label: wells
-    side: CENTER
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 plate_96:
   category:
@@ -112,7 +41,6 @@ plate_96:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 plate_96_high:
   category:
@@ -135,35 +63,6 @@ plate_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
-  registry_type: resource
-  version: 1.0.0
-tip_rack:
-  category:
-  - tip_rack
-  - labware
-  - resource_container
-  class:
-    module: unilabos.resources.tip_rack:TipRack
-    type: unilabos
-  description: 枪头架资源，用于存放和管理移液器枪头
-  handles:
-  - data_key: tip_access
-    data_source: handle
-    data_type: mechanical
-    handler_key: access
-    io_type: target
-    label: access
-    side: NORTH
-  - data_key: tip_pickup
-    data_source: handle
-    data_type: mechanical
-    handler_key: pickup
-    io_type: target
-    label: pickup
-    side: SOUTH
-  icon: ''
-  init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 tiprack_96_high:
   category:
@@ -195,7 +94,6 @@ tiprack_96_high:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tiprack_box:
   category:
@@ -227,5 +125,4 @@ tiprack_box:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -29,7 +29,6 @@ bottle_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 tube_container:
   category:
@@ -62,5 +61,4 @@ tube_container:
     - 0
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -12,5 +12,4 @@ TransformXYZDeck:
     mesh: liquid_transform_xyz
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -12,7 +12,6 @@ OTDeck:
     mesh: opentrons_liquid_handler
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0
 hplc_station:
   category:
@@ -28,5 +27,4 @@ hplc_station:
     mesh: hplc_station
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -8,5 +8,4 @@ Opentrons_96_adapter_Vb:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -8,7 +8,6 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_384_wellplate_50ul:
   category:
@@ -20,7 +19,6 @@ biorad_384_wellplate_50ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 biorad_96_wellplate_200ul_pcr:
   category:
@@ -32,7 +30,6 @@ biorad_96_wellplate_200ul_pcr:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_12_wellplate_6point9ml_flat:
   category:
@@ -44,7 +41,6 @@ corning_12_wellplate_6point9ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_24_wellplate_3point4ml_flat:
   category:
@@ -56,7 +52,6 @@ corning_24_wellplate_3point4ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_384_wellplate_112ul_flat:
   category:
@@ -68,7 +63,6 @@ corning_384_wellplate_112ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_48_wellplate_1point6ml_flat:
   category:
@@ -80,7 +74,6 @@ corning_48_wellplate_1point6ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_6_wellplate_16point8ml_flat:
   category:
@@ -92,7 +85,6 @@ corning_6_wellplate_16point8ml_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 corning_96_wellplate_360ul_flat:
   category:
@@ -104,7 +96,6 @@ corning_96_wellplate_360ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_100ul_pcr_full_skirt:
   category:
@@ -136,7 +127,6 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
   category:
@@ -148,7 +138,6 @@ nest_96_wellplate_200ul_flat:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_96_wellplate_2ml_deep:
   category:
@@ -171,7 +160,6 @@ nest_96_wellplate_2ml_deep:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:
   category:
@@ -183,7 +171,6 @@ thermoscientificnunc_96_wellplate_1300ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_2000ul:
   category:
@@ -195,7 +182,6 @@ thermoscientificnunc_96_wellplate_2000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_96_wellplate_2point4ml_deep:
   category:
@@ -207,5 +193,4 @@ usascientific_96_wellplate_2point4ml_deep:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -8,7 +8,6 @@ agilent_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 axygen_1_reservoir_90ml:
   category:
@@ -20,7 +19,6 @@ axygen_1_reservoir_90ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_12_reservoir_15ml:
   category:
@@ -32,7 +30,6 @@ nest_12_reservoir_15ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_195ml:
   category:
@@ -44,7 +41,6 @@ nest_1_reservoir_195ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 nest_1_reservoir_290ml:
   category:
@@ -56,7 +52,6 @@ nest_1_reservoir_290ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 usascientific_12_reservoir_22ml:
   category:
@@ -68,5 +63,4 @@ usascientific_12_reservoir_22ml:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -8,7 +8,6 @@ eppendorf_96_tiprack_1000ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 eppendorf_96_tiprack_10ul_eptips:
   category:
@@ -20,7 +19,6 @@ eppendorf_96_tiprack_10ul_eptips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_1000ul:
   category:
@@ -32,7 +30,6 @@ geb_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 geb_96_tiprack_10ul:
   category:
@@ -44,7 +41,6 @@ geb_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_1000ul:
   category:
@@ -75,7 +71,6 @@ opentrons_96_filtertiprack_1000ul:
     - 1.5708
     path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:
   category:
@@ -87,7 +82,6 @@ opentrons_96_filtertiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_200ul:
   category:
@@ -99,7 +93,6 @@ opentrons_96_filtertiprack_200ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_20ul:
   category:
@@ -111,7 +104,6 @@ opentrons_96_filtertiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_1000ul:
   category:
@@ -123,7 +115,6 @@ opentrons_96_tiprack_1000ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_10ul:
   category:
@@ -135,7 +126,6 @@ opentrons_96_tiprack_10ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_20ul:
   category:
@@ -147,7 +137,6 @@ opentrons_96_tiprack_20ul:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_tiprack_300ul:
   category:

unilabos/registry/resources/opentrons/tube_racks.yaml

@@ -8,7 +8,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   category:
@@ -20,7 +19,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   category:
@@ -32,7 +30,6 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_falcon_15ml_conical:
   category:
@@ -44,7 +41,6 @@ opentrons_15_tuberack_falcon_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_15_tuberack_nest_15ml_conical:
   category:
@@ -56,7 +52,6 @@ opentrons_15_tuberack_nest_15ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_generic_2ml_screwcap:
   category:
@@ -68,7 +63,6 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   category:
@@ -80,7 +74,6 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   category:
@@ -92,7 +85,6 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   category:
@@ -104,7 +96,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   category:
@@ -116,7 +107,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   category:
@@ -128,7 +118,6 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_generic_2ml_screwcap:
   category:
@@ -140,7 +129,6 @@ opentrons_24_tuberack_generic_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_0point5ml_screwcap:
   category:
@@ -152,7 +140,6 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_screwcap:
   category:
@@ -164,7 +151,6 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_1point5ml_snapcap:
   category:
@@ -176,7 +162,6 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_screwcap:
   category:
@@ -188,7 +173,6 @@ opentrons_24_tuberack_nest_2ml_screwcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_24_tuberack_nest_2ml_snapcap:
   category:
@@ -200,7 +184,6 @@ opentrons_24_tuberack_nest_2ml_snapcap:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_falcon_50ml_conical:
   category:
@@ -212,7 +195,6 @@ opentrons_6_tuberack_falcon_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_6_tuberack_nest_50ml_conical:
   category:
@@ -224,7 +206,6 @@ opentrons_6_tuberack_nest_50ml_conical:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 opentrons_96_well_aluminum_block:
   category:
@@ -236,5 +217,4 @@ opentrons_96_well_aluminum_block:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/organic/container.yaml

@@ -29,5 +29,4 @@ container:
     side: WEST
   icon: Flask.webp
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -8,7 +8,6 @@ POST_PROCESS_Raw_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 POST_PROCESS_Reaction_1BottleCarrier:
   category:
@@ -20,5 +19,4 @@ POST_PROCESS_Reaction_1BottleCarrier:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/post_process/deck.yaml

@@ -9,5 +9,4 @@ post_process_deck:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -9,7 +9,6 @@ PRCXI_30mm_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Adapter:
   category:
@@ -22,7 +21,6 @@ PRCXI_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Deep10_Adapter:
   category:
@@ -35,7 +33,6 @@ PRCXI_Deep10_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Deep300_Adapter:
   category:
@@ -48,7 +45,6 @@ PRCXI_Deep300_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Adapter:
   category:
@@ -61,7 +57,6 @@ PRCXI_PCR_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Reservoir_Adapter:
   category:
@@ -74,7 +69,6 @@ PRCXI_Reservoir_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip10_Adapter:
   category:
@@ -87,7 +81,6 @@ PRCXI_Tip10_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip1250_Adapter:
   category:
@@ -100,7 +93,6 @@ PRCXI_Tip1250_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_Tip300_Adapter:
   category:
@@ -113,5 +105,4 @@ PRCXI_Tip300_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/plates.yaml

@@ -9,7 +9,6 @@ PRCXI_48_DeepWell:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_96_DeepWell:
   category:
@@ -22,7 +21,6 @@ PRCXI_96_DeepWell:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_AGenBio_4_troughplate:
   category:
@@ -35,7 +33,6 @@ PRCXI_AGenBio_4_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_BioER_96_wellplate:
   category:
@@ -48,7 +45,6 @@ PRCXI_BioER_96_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_BioRad_384_wellplate:
   category:
@@ -61,7 +57,6 @@ PRCXI_BioRad_384_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_CellTreat_96_wellplate:
   category:
@@ -74,7 +69,6 @@ PRCXI_CellTreat_96_wellplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_nonskirted:
   category:
@@ -87,7 +81,6 @@ PRCXI_PCR_Plate_200uL_nonskirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_semiskirted:
   category:
@@ -100,7 +93,6 @@ PRCXI_PCR_Plate_200uL_semiskirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_PCR_Plate_200uL_skirted:
   category:
@@ -113,7 +105,6 @@ PRCXI_PCR_Plate_200uL_skirted:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_nest_12_troughplate:
   category:
@@ -126,7 +117,6 @@ PRCXI_nest_12_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_nest_1_troughplate:
   category:
@@ -139,5 +129,4 @@ PRCXI_nest_1_troughplate:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -9,7 +9,6 @@ PRCXI_1000uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_10uL_Tips:
   category:
@@ -22,7 +21,6 @@ PRCXI_10uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_10ul_eTips:
   category:
@@ -35,7 +33,6 @@ PRCXI_10ul_eTips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_1250uL_Tips:
   category:
@@ -48,7 +45,6 @@ PRCXI_1250uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_200uL_Tips:
   category:
@@ -61,7 +57,6 @@ PRCXI_200uL_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0
 PRCXI_300ul_Tips:
   category:
@@ -74,5 +69,4 @@ PRCXI_300ul_Tips:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/trash.yaml

@@ -9,5 +9,4 @@ PRCXI_trash:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -9,5 +9,4 @@ PRCXI_EP_Adapter:
   handles: []
   icon: ''
   init_param_schema: {}
-  registry_type: resource
   version: 1.0.0

unilabos/registry/utils.py

@@ -0,0 +1,724 @@
+"""
+注册表工具函数
+
+从 registry.py 中提取的纯工具函数，包括：
+- docstring 解析
+- 类型字符串 → JSON Schema 转换
+- AST 类型节点解析
+- TypedDict / Slot / Handle 等辅助检测
+"""
+
+import inspect
+import logging
+import re
+import typing
+from typing import Any, Dict, List, Optional, Tuple, Union
+
+from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
+
+from unilabos.utils.cls_creator import import_class
+
+_logger = logging.getLogger(__name__)
+
+
+# ---------------------------------------------------------------------------
+# 异常
+# ---------------------------------------------------------------------------
+
+
+class ROSMsgNotFound(Exception):
+    pass
+
+
+# ---------------------------------------------------------------------------
+# Docstring 解析 (Google-style)
+# ---------------------------------------------------------------------------
+
+_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
+
+
+def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
+    """
+    解析 Google-style docstring，提取描述和参数说明。
+
+    Returns:
+        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
+    """
+    result: Dict[str, Any] = {"description": "", "params": {}}
+    if not docstring:
+        return result
+
+    lines = docstring.strip().splitlines()
+    if not lines:
+        return result
+
+    result["description"] = lines[0].strip()
+
+    in_args = False
+    current_param: Optional[str] = None
+    current_desc_parts: list = []
+
+    for line in lines[1:]:
+        stripped = line.strip()
+        section_match = _SECTION_RE.match(stripped)
+        if section_match:
+            if current_param is not None:
+                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+                current_param = None
+                current_desc_parts = []
+            section_name = section_match.group(1).lower()
+            in_args = section_name in ("args", "arguments", "parameters", "params")
+            continue
+
+        if not in_args:
+            continue
+
+        if ":" in stripped and not stripped.startswith(" "):
+            if current_param is not None:
+                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+            param_part, _, desc_part = stripped.partition(":")
+            param_name = param_part.strip().split("(")[0].strip()
+            current_param = param_name
+            current_desc_parts = [desc_part.strip()]
+        elif current_param is not None:
+            aline = line
+            if aline.startswith("    "):
+                aline = aline[4:]
+            elif aline.startswith("\t"):
+                aline = aline[1:]
+            current_desc_parts.append(aline.strip())
+
+    if current_param is not None:
+        result["params"][current_param] = "\n".join(current_desc_parts).strip()
+
+    return result
+
+
+# ---------------------------------------------------------------------------
+# 类型常量
+# ---------------------------------------------------------------------------
+
+SIMPLE_TYPE_MAP = {
+    "str": "string",
+    "string": "string",
+    "int": "integer",
+    "integer": "integer",
+    "float": "number",
+    "number": "number",
+    "bool": "boolean",
+    "boolean": "boolean",
+    "list": "array",
+    "array": "array",
+    "dict": "object",
+    "object": "object",
+}
+
+ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"}
+OBJECT_TYPES = {"dict", "Dict", "Mapping"}
+WRAPPER_TYPES = {"Optional"}
+SLOT_TYPES = {"ResourceSlot", "DeviceSlot"}
+
+
+# ---------------------------------------------------------------------------
+# 简单类型映射
+# ---------------------------------------------------------------------------
+
+
+def get_json_schema_type(type_str: str) -> str:
+    """简单类型名 -> JSON Schema type"""
+    return SIMPLE_TYPE_MAP.get(type_str.lower(), "string")
+
+
+# ---------------------------------------------------------------------------
+# AST 类型解析
+# ---------------------------------------------------------------------------
+
+
+def parse_type_node(type_str: str):
+    """将类型注解字符串解析为 AST 节点，失败返回 None。"""
+    import ast as _ast
+
+    try:
+        return _ast.parse(type_str.strip(), mode="eval").body
+    except Exception:
+        return None
+
+
+def _collect_bitor(node, out: list):
+    """递归收集 X | Y | Z 的所有分支。"""
+    import ast as _ast
+
+    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
+        _collect_bitor(node.left, out)
+        _collect_bitor(node.right, out)
+    else:
+        out.append(node)
+
+
+def type_node_to_schema(
+    node,
+    import_map: Optional[Dict[str, str]] = None,
+) -> Dict[str, Any]:
+    """将 AST 类型注解节点递归转换为 JSON Schema dict。
+
+    当提供 import_map 时，对于未知类名会尝试通过 import_map 解析模块路径，
+    然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。
+
+    映射规则:
+    - Optional[X]                    → X 的 schema (剥掉 Optional)
+    - Union[X, Y]                    → {"anyOf": [X_schema, Y_schema]}
+    - List[X] / Tuple[X] / Set[X]   → {"type": "array", "items": X_schema}
+    - Dict[K, V]                     → {"type": "object", "additionalProperties": V_schema}
+    - Literal["a", "b"]             → {"type": "string", "enum": ["a", "b"]}
+    - TypedDict (via import_map)     → {"type": "object", "properties": {...}}
+    - 基本类型 str/int/...          → {"type": "string"/"integer"/...}
+    """
+    import ast as _ast
+
+    # --- Name 节点: str / int / dict / ResourceSlot / 自定义类 ---
+    if isinstance(node, _ast.Name):
+        name = node.id
+        if name in SLOT_TYPES:
+            return {"$slot": name}
+        json_type = SIMPLE_TYPE_MAP.get(name.lower())
+        if json_type:
+            return {"type": json_type}
+        # 尝试通过 import_map 解析并 import 真实类型
+        if import_map and name in import_map:
+            type_obj = resolve_type_object(import_map[name])
+            if type_obj is not None:
+                return type_to_schema(type_obj)
+        # 未知类名 → 无法转 schema 的自定义类型默认当 object
+        return {"type": "object"}
+
+    if isinstance(node, _ast.Constant):
+        if isinstance(node.value, str):
+            return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")}
+        return {"type": "string"}
+
+    # --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 ---
+    if isinstance(node, _ast.Subscript):
+        base_name = node.value.id if isinstance(node.value, _ast.Name) else ""
+
+        # Optional[X] → 剥掉
+        if base_name in WRAPPER_TYPES:
+            return type_node_to_schema(node.slice, import_map)
+
+        # Union[X, None] → 剥掉 None; Union[X, Y] → anyOf
+        if base_name == "Union":
+            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
+            non_none = [
+                e
+                for e in elts
+                if not (isinstance(e, _ast.Constant) and e.value is None)
+                and not (isinstance(e, _ast.Name) and e.id == "None")
+            ]
+            if len(non_none) == 1:
+                return type_node_to_schema(non_none[0], import_map)
+            if len(non_none) > 1:
+                return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]}
+            return {"type": "string"}
+
+        # Literal["a", "b", 1] → enum
+        if base_name == "Literal":
+            elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
+            values = []
+            for e in elts:
+                if isinstance(e, _ast.Constant):
+                    values.append(e.value)
+                elif isinstance(e, _ast.Name):
+                    values.append(e.id)
+            if values:
+                return {"type": "string", "enum": values}
+            return {"type": "string"}
+
+        # List / Tuple / Set → array
+        if base_name in ARRAY_TYPES:
+            if isinstance(node.slice, _ast.Tuple) and node.slice.elts:
+                inner_node = node.slice.elts[0]
+            else:
+                inner_node = node.slice
+            return {"type": "array", "items": type_node_to_schema(inner_node, import_map)}
+
+        # Dict → object
+        if base_name in OBJECT_TYPES:
+            schema: Dict[str, Any] = {"type": "object"}
+            if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2:
+                val_node = node.slice.elts[1]
+                # Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束)
+                is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or (
+                    isinstance(val_node, _ast.Constant) and val_node.value is None
+                )
+                if not is_any:
+                    val_schema = type_node_to_schema(val_node, import_map)
+                    schema["additionalProperties"] = val_schema
+            return schema
+
+    # --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 ---
+    if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
+        parts: list = []
+        _collect_bitor(node, parts)
+        non_none = [
+            p
+            for p in parts
+            if not (isinstance(p, _ast.Constant) and p.value is None)
+            and not (isinstance(p, _ast.Name) and p.id == "None")
+        ]
+        if len(non_none) == 1:
+            return type_node_to_schema(non_none[0], import_map)
+        if len(non_none) > 1:
+            return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]}
+        return {"type": "string"}
+
+    return {"type": "string"}
+
+
+# ---------------------------------------------------------------------------
+# 真实类型对象解析 (import-based)
+# ---------------------------------------------------------------------------
+
+
+def resolve_type_object(type_ref: str) -> Optional[Any]:
+    """通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。
+
+    对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。
+    import 失败时静默返回 None。
+    """
+    if ":" not in type_ref:
+        return None
+    try:
+        return import_class(type_ref)
+    except Exception:
+        return None
+
+
+def is_typed_dict_class(obj: Any) -> bool:
+    """检查对象是否是 TypedDict 类。"""
+    if obj is None:
+        return False
+    try:
+        from typing_extensions import is_typeddict
+
+        return is_typeddict(obj)
+    except ImportError:
+        if isinstance(obj, type):
+            return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__")
+        return False
+
+
+def type_to_schema(tp: Any) -> Dict[str, Any]:
+    """将真实 typing 对象递归转换为 JSON Schema dict。
+
+    支持:
+    - 基本类型: str, int, float, bool → {"type": "string"/"integer"/...}
+    - typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...]
+    - TypedDict → {"type": "object", "properties": {...}, "required": [...]}
+    - 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"}
+    """
+    origin = getattr(tp, "__origin__", None)
+    args = getattr(tp, "__args__", None)
+
+    # --- None / NoneType ---
+    if tp is type(None):
+        return {"type": "null"}
+
+    # --- 基本类型 ---
+    if tp is str:
+        return {"type": "string"}
+    if tp is int:
+        return {"type": "integer"}
+    if tp is float:
+        return {"type": "number"}
+    if tp is bool:
+        return {"type": "boolean"}
+
+    # --- TypedDict ---
+    if is_typed_dict_class(tp):
+        try:
+            return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp)
+        except Exception:
+            return {"type": "object"}
+
+    # --- Literal ---
+    if origin is typing.Literal:
+        values = list(args) if args else []
+        return {"type": "string", "enum": values}
+
+    # --- Optional / Union ---
+    if origin is typing.Union:
+        non_none = [a for a in (args or ()) if a is not type(None)]
+        if len(non_none) == 1:
+            return type_to_schema(non_none[0])
+        if len(non_none) > 1:
+            return {"anyOf": [type_to_schema(a) for a in non_none]}
+        return {"type": "string"}
+
+    # --- List / Sequence / Set / Tuple / Iterable ---
+    if origin in (list, tuple, set, frozenset) or (
+        origin is not None
+        and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence")
+    ):
+        if args:
+            return {"type": "array", "items": type_to_schema(args[0])}
+        return {"type": "array"}
+
+    # --- Dict / Mapping ---
+    if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")):
+        schema: Dict[str, Any] = {"type": "object"}
+        if args and len(args) >= 2:
+            schema["additionalProperties"] = type_to_schema(args[1])
+        return schema
+
+    # --- Slot 类型 ---
+    if isinstance(tp, type):
+        name = tp.__name__
+        if name in SLOT_TYPES:
+            return {"$slot": name}
+
+    # --- 其他未知类型 fallback ---
+    if isinstance(tp, type):
+        return {"type": "object"}
+    return {"type": "string"}
+
+
+# ---------------------------------------------------------------------------
+# Slot / Placeholder 检测
+# ---------------------------------------------------------------------------
+
+
+def detect_slot_type(ptype) -> Tuple[Optional[str], bool]:
+    """检测参数类型是否为 ResourceSlot / DeviceSlot。
+
+    兼容多种格式:
+    - runtime: "unilabos.registry.placeholder_type:ResourceSlot"
+    - runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot")
+    - AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]"
+
+    Returns: (slot_name | None, is_list)
+    """
+    ptype_str = str(ptype)
+
+    # 快速路径: 字符串里根本没有 Slot
+    if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str:
+        return (None, False)
+
+    # runtime 格式: 完整模块路径
+    if isinstance(ptype, str):
+        if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot":
+            return ("ResourceSlot", False)
+        if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot":
+            return ("DeviceSlot", False)
+        # AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等
+        if "[" in ptype:
+            node = parse_type_node(ptype)
+            if node is not None:
+                schema = type_node_to_schema(node)
+                # 直接是 slot
+                if "$slot" in schema:
+                    return (schema["$slot"], False)
+                # array 包裹 slot: {"type": "array", "items": {"$slot": "..."}}
+                items = schema.get("items", {})
+                if isinstance(items, dict) and "$slot" in items:
+                    return (items["$slot"], True)
+        return (None, False)
+
+    # runtime tuple 格式
+    if isinstance(ptype, tuple) and len(ptype) == 2:
+        inner_str = str(ptype[1])
+        if "ResourceSlot" in inner_str:
+            return ("ResourceSlot", True)
+        if "DeviceSlot" in inner_str:
+            return ("DeviceSlot", True)
+
+    return (None, False)
+
+
+def detect_placeholder_keys(params: list) -> Dict[str, str]:
+    """Detect parameters that reference ResourceSlot or DeviceSlot."""
+    result: Dict[str, str] = {}
+    for p in params:
+        ptype = p.get("type", "")
+        if "ResourceSlot" in str(ptype):
+            result[p["name"]] = "unilabos_resources"
+        elif "DeviceSlot" in str(ptype):
+            result[p["name"]] = "unilabos_devices"
+    return result
+
+
+# ---------------------------------------------------------------------------
+# Handle 规范化
+# ---------------------------------------------------------------------------
+
+
+def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
+    """Convert AST-parsed handle structures to the standard registry format."""
+    if not handles_raw:
+        return []
+
+    # handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值)
+    _HANDLE_TYPE_TO_IO_TYPE = {
+        "input": "target",
+        "output": "source",
+        "action_input": "action_target",
+        "action_output": "action_source",
+    }
+
+    result: List[Dict[str, Any]] = []
+    for h in handles_raw:
+        if isinstance(h, dict):
+            call = h.get("_call", "")
+            if "InputHandle" in call:
+                handle_type = "input"
+            elif "OutputHandle" in call:
+                handle_type = "output"
+            elif "ActionInputHandle" in call:
+                handle_type = "action_input"
+            elif "ActionOutputHandle" in call:
+                handle_type = "action_output"
+            else:
+                handle_type = h.get("handle_type", "unknown")
+
+            io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type)
+
+            entry: Dict[str, Any] = {
+                "handler_key": h.get("key", ""),
+                "data_type": h.get("data_type", ""),
+                "io_type": io_type,
+            }
+            side = h.get("side")
+            if side:
+                if isinstance(side, str) and "." in side:
+                    val = side.rsplit(".", 1)[-1]
+                    side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
+                entry["side"] = side
+            label = h.get("label")
+            if label:
+                entry["label"] = label
+            data_key = h.get("data_key")
+            if data_key:
+                entry["data_key"] = data_key
+            data_source = h.get("data_source")
+            if data_source:
+                if isinstance(data_source, str) and "." in data_source:
+                    val = data_source.rsplit(".", 1)[-1]
+                    data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
+                entry["data_source"] = data_source
+            description = h.get("description")
+            if description:
+                entry["description"] = description
+
+            result.append(entry)
+    return result
+
+
+def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
+    """Convert AST-parsed action handle list to {"input": [...], "output": [...]}.
+
+    Mirrors the runtime behavior of decorators._action_handles_to_dict:
+      - ActionInputHandle  => grouped under "input"
+      - ActionOutputHandle => grouped under "output"
+    Field mapping: key -> handler_key (matches Pydantic serialization_alias).
+    """
+    if not handles_raw or not isinstance(handles_raw, list):
+        return {}
+
+    input_list: List[Dict[str, Any]] = []
+    output_list: List[Dict[str, Any]] = []
+
+    for h in handles_raw:
+        if not isinstance(h, dict):
+            continue
+        call = h.get("_call", "")
+        is_input = "ActionInputHandle" in call or "InputHandle" in call
+        is_output = "ActionOutputHandle" in call or "OutputHandle" in call
+
+        entry: Dict[str, Any] = {
+            "handler_key": h.get("key", ""),
+            "data_type": h.get("data_type", ""),
+            "label": h.get("label", ""),
+        }
+        for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
+            val = h.get(opt_key)
+            if val is not None:
+                # Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
+                # data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
+                if (
+                    isinstance(val, str)
+                    and "." in val
+                    and opt_key not in ("io_type", "data_key")
+                ):
+                    val = val.rsplit(".", 1)[-1].lower()
+                entry[opt_key] = val
+
+        # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
+        if "io_type" not in entry and is_input:
+            entry["io_type"] = "source"
+
+        if is_input:
+            input_list.append(entry)
+        elif is_output:
+            output_list.append(entry)
+
+    result: Dict[str, Any] = {}
+    if input_list:
+        result["input"] = input_list
+    # Always include output (empty list when no outputs) to match YAML
+    result["output"] = output_list
+    return result
+
+
+# ---------------------------------------------------------------------------
+# Schema 辅助
+# ---------------------------------------------------------------------------
+
+
+def wrap_action_schema(
+    goal_schema: Dict[str, Any],
+    action_name: str,
+    description: str = "",
+    result_schema: Optional[Dict[str, Any]] = None,
+    feedback_schema: Optional[Dict[str, Any]] = None,
+) -> Dict[str, Any]:
+    """
+    将 goal 参数 schema 包装为标准的 action schema 格式:
+    { "properties": { "goal": ..., "feedback": ..., "result": ... }, ... }
+    """
+    # 去掉 auto- 前缀用于 title/description，与 YAML 路径保持一致
+    display_name = action_name.removeprefix("auto-")
+    return {
+        "title": f"{display_name}参数",
+        "description": description or f"{display_name}的参数schema",
+        "type": "object",
+        "properties": {
+            "goal": goal_schema,
+            "feedback": feedback_schema or {},
+            "result": result_schema or {},
+        },
+        "required": ["goal"],
+    }
+
+
+def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
+    """递归保留之前 schema 中各字段的 description / title。
+
+    覆盖顶层以及嵌套 properties（如 goal.properties.xxx.description）。
+    """
+    if not prev_schema or not new_schema:
+        return
+    prev_props = prev_schema.get("properties", {})
+    new_props = new_schema.get("properties", {})
+    for field_name, prev_field in prev_props.items():
+        if field_name not in new_props:
+            continue
+        new_field = new_props[field_name]
+        if not isinstance(prev_field, dict) or not isinstance(new_field, dict):
+            continue
+        if "title" in prev_field:
+            new_field.setdefault("title", prev_field["title"])
+        if "description" in prev_field:
+            new_field.setdefault("description", prev_field["description"])
+        if "properties" in prev_field and "properties" in new_field:
+            preserve_field_descriptions(new_field, prev_field)
+
+
+def strip_ros_descriptions(schema: Any):
+    """递归清除 ROS schema 中自动生成的无意义 description（含 rosidl_parser 内存地址）。"""
+    if isinstance(schema, dict):
+        desc = schema.get("description", "")
+        if isinstance(desc, str) and "rosidl_parser" in desc:
+            del schema["description"]
+        for v in schema.values():
+            strip_ros_descriptions(v)
+    elif isinstance(schema, list):
+        for item in schema:
+            strip_ros_descriptions(item)
+
+
+# ---------------------------------------------------------------------------
+# 深度对比
+# ---------------------------------------------------------------------------
+
+
+def _short(val, limit=120):
+    """截断过长的值用于日志显示。"""
+    s = repr(val)
+    return s if len(s) <= limit else s[:limit] + "..."
+
+
+def deep_diff(old, new, path="", max_depth=10) -> list:
+    """递归对比两个对象，返回所有差异的描述列表。"""
+    diffs = []
+    if max_depth <= 0:
+        if old != new:
+            diffs.append(f"{path}: (达到最大深度) OLD≠NEW")
+        return diffs
+
+    if type(old) != type(new):
+        diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})")
+        return diffs
+
+    if isinstance(old, dict):
+        old_keys = set(old.keys())
+        new_keys = set(new.keys())
+        for k in sorted(new_keys - old_keys):
+            diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}")
+        for k in sorted(old_keys - new_keys):
+            diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}")
+        for k in sorted(old_keys & new_keys):
+            diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1))
+    elif isinstance(old, (list, tuple)):
+        if len(old) != len(new):
+            diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}")
+        for i in range(min(len(old), len(new))):
+            diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1))
+        if len(new) > len(old):
+            for i in range(len(old), len(new)):
+                diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}")
+        elif len(old) > len(new):
+            for i in range(len(new), len(old)):
+                diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}")
+    else:
+        if old != new:
+            diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}")
+    return diffs
+
+
+# ---------------------------------------------------------------------------
+# MRO 方法参数解析
+# ---------------------------------------------------------------------------
+
+
+def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]:
+    """当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数.
+
+    返回 identity mapping {param_name: param_name}.
+    """
+    if not module_str or ":" not in module_str:
+        return {}
+    try:
+        cls = import_class(module_str)
+    except Exception as e:
+        _logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}")
+        return {}
+
+    try:
+        for base_cls in cls.__mro__:
+            if method_name not in base_cls.__dict__:
+                continue
+            method = base_cls.__dict__[method_name]
+            actual = getattr(method, "__wrapped__", method)
+            if isinstance(actual, (staticmethod, classmethod)):
+                actual = actual.__func__
+            if not callable(actual):
+                continue
+            sig = inspect.signature(actual, follow_wrapped=True)
+            params = [
+                p.name for p in sig.parameters.values()
+                if p.name not in ("self", "cls")
+                and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
+            ]
+            if params:
+                return {p: p for p in params}
+    except Exception as e:
+        _logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}")
+    return {}