修改Z轴最大值无法赋予的bug，

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.19
+  version: 0.11.1
 
 source:
   path: ../../unilabos
@@ -54,7 +54,7 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.19
+  - uni-lab::unilabos-env ==0.11.1
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.19
+  version: 0.11.1
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.19
+  version: 0.11.1
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.19
+  - uni-lab::unilabos ==0.11.1
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.cursor/skills/add-device/SKILL.md

@@ -71,6 +71,22 @@ from unilabos.registry.decorators import action
 - `_` 开头的方法 → 不扫描
 - `@not_action` 标记的方法 → 排除
 
+### 参数文档 → JSON Schema 元数据
+
+在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
+
+```python
+"""
+Args:
+    param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
+"""
+```
+
+- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
+- `:` 后面的说明会写入 goal property 的 `description`。
+- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
+- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
+
 ### @topic_config — 状态属性配置
 
 ```python
@@ -105,13 +121,27 @@ import logging
 from typing import Any, Dict, Optional
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.registry.decorators import device, action, topic_config, not_action
+from unilabos.registry.decorators import action, device, not_action, topic_config
 
-@device(id="my_device", category=["my_category"], description="设备描述")
+@device(
+    id="my_device",
+    category=["my_category"],
+    description="设备描述",
+    display_name="设备显示名",
+)
 class MyDevice:
+    """设备类说明。"""
+
     _ros_node: BaseROS2DeviceNode
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        """
+        初始化设备。
+
+        Args:
+            device_id[设备ID]: 设备实例 ID，默认使用 my_device。
+            config[设备配置]: 设备启动配置。
+        """
         self.device_id = device_id or "my_device"
         self.config = config or {}
         self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
@@ -133,7 +163,13 @@ class MyDevice:
 
     @action(description="执行操作")
     def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
-        """带 @action 装饰器 → 注册为 'my_action' 动作"""
+        """
+        带 @action 装饰器 → 注册为 'my_action' 动作。
+
+        Args:
+            param[操作数值]: 操作使用的数值参数。
+            name[操作名称]: 操作名称或备注。
+        """
         return {"success": True}
 
     def get_info(self) -> Dict[str, Any]:

.cursor/skills/batch-insert-reagent/SKILL.md

@@ -27,14 +27,15 @@ python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{
 
 ### 2. --addr → BASE URL
 
-| `--addr` 值 | BASE |
+| `--addr` 值  | BASE                                |
-|-------------|------|
+| ------------ | ----------------------------------- |
-| `test` | `https://uni-lab.test.bohrium.com` |
+| `test`       | `https://leap-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `uat`        | `https://leap-lab.uat.bohrium.com`  |
-| `local` | `http://127.0.0.1:48197` |
+| `local`      | `http://127.0.0.1:48197`            |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 不传（默认） | `https://leap-lab.bohrium.com`      |
 
 确认后设置：
+
 ```bash
 BASE="<根据 addr 确定的 URL>"
 AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
@@ -65,7 +66,7 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
 返回：
 
 ```json
-{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
 ```
 
 记住 `data.uuid` 为 `lab_uuid`。
@@ -90,6 +91,7 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
 ```
 
 返回成功时包含试剂 UUID：
+
 ```json
 {"code": 0, "data": {"uuid": "xxx", ...}}
 ```
@@ -98,28 +100,28 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
 
 ## 试剂字段说明
 
-| 字段 | 类型 | 必填 | 说明 | 示例 |
+| 字段                | 类型   | 必填 | 说明                          | 示例                     |
-|------|------|------|------|------|
+| ------------------- | ------ | ---- | ----------------------------- | ------------------------ |
-| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
+| `lab_uuid`          | string | 是   | 实验室 UUID（从 API #1 获取） | `"8511c672-..."`         |
-| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
+| `cas`               | string | 是   | CAS 注册号                    | `"7732-18-3"`            |
-| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
+| `name`              | string | 是   | 试剂中文/英文名称             | `"水"`                   |
-| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
+| `molecular_formula` | string | 是   | 分子式                        | `"H2O"`                  |
-| `smiles` | string | 是 | SMILES 表示 | `"O"` |
+| `smiles`            | string | 是   | SMILES 表示                   | `"O"`                    |
-| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
+| `stock_in_quantity` | number | 是   | 入库数量                      | `10`                     |
-| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
+| `unit`              | string | 是   | 单位（字符串，见下表）        | `"mL"`                   |
-| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
+| `supplier`          | string | 否   | 供应商名称                    | `"国药集团"`             |
-| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
+| `production_date`   | string | 否   | 生产日期（ISO 8601）          | `"2025-11-18T00:00:00Z"` |
-| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
+| `expiry_date`       | string | 否   | 过期日期（ISO 8601）          | `"2026-11-18T00:00:00Z"` |
 
 ### unit 单位值
 
-| 值 | 单位 |
+| 值     | 单位 |
-|------|------|
+| ------ | ---- |
 | `"mL"` | 毫升 |
-| `"L"` | 升 |
+| `"L"`  | 升   |
-| `"g"` | 克 |
+| `"g"`  | 克   |
 | `"kg"` | 千克 |
-| `"瓶"` | 瓶 |
+| `"瓶"` | 瓶   |
 
 > 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
 
@@ -133,8 +135,22 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
 
 ```json
 [
-  {"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
+  {
-  {"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
+    "cas": "7732-18-3",
+    "name": "水",
+    "molecular_formula": "H2O",
+    "smiles": "O",
+    "stock_in_quantity": 10,
+    "unit": "mL"
+  },
+  {
+    "cas": "64-17-5",
+    "name": "乙醇",
+    "molecular_formula": "C2H6O",
+    "smiles": "CCO",
+    "stock_in_quantity": 5,
+    "unit": "L"
+  }
 ]
 ```
 
@@ -160,9 +176,20 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat
 7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
 ```
 
+### 日期格式规则（重要）
+
+所有日期字段（`production_date`、`expiry_date`）**必须**使用 ISO 8601 完整格式：`YYYY-MM-DDTHH:MM:SSZ`。
+
+- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"`
+- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"`
+- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年
+
+**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。
+
 ### 执行与汇报
 
 每次 API 调用后：
+
 1. 检查返回 `code`（0 = 成功）
 2. 记录成功/失败数量
 3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
@@ -172,28 +199,29 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat
 
 ## 常见试剂速查表
 
-| 名称 | CAS | 分子式 | SMILES |
+| 名称                  | CAS       | 分子式     | SMILES                               |
-|------|-----|--------|--------|
+| --------------------- | --------- | ---------- | ------------------------------------ |
-| 水 | 7732-18-3 | H2O | O |
+| 水                    | 7732-18-3 | H2O        | O                                    |
-| 乙醇 | 64-17-5 | C2H6O | CCO |
+| 乙醇                  | 64-17-5   | C2H6O      | CCO                                  |
-| 甲醇 | 67-56-1 | CH4O | CO |
+| 乙酸                  | 64-19-7   | C2H4O2     | CC(O)=O                              |
-| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
+| 甲醇                  | 67-56-1   | CH4O       | CO                                   |
-| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
+| 丙酮                  | 67-64-1   | C3H6O      | CC(C)=O                              |
-| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
+| 二甲基亚砜(DMSO)      | 67-68-5   | C2H6OS     | CS(C)=O                              |
-| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
+| 乙酸乙酯              | 141-78-6  | C4H8O2     | CCOC(C)=O                            |
-| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
+| 二氯甲烷              | 75-09-2   | CH2Cl2     | ClCCl                                |
-| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
+| 四氢呋喃(THF)         | 109-99-9  | C4H8O      | C1CCOC1                              |
-| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
+| N,N-二甲基甲酰胺(DMF) | 68-12-2   | C3H7NO     | CN(C)C=O                             |
-| 乙腈 | 75-05-8 | C2H3N | CC#N |
+| 氯仿                  | 67-66-3   | CHCl3      | ClC(Cl)Cl                            |
-| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
+| 乙腈                  | 75-05-8   | C2H3N      | CC#N                                 |
-| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
+| 甲苯                  | 108-88-3  | C7H8       | Cc1ccccc1                            |
-| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
+| 正己烷                | 110-54-3  | C6H14      | CCCCCC                               |
-| 盐酸 | 7647-01-0 | HCl | Cl |
+| 异丙醇                | 67-63-0   | C3H8O      | CC(C)O                               |
-| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
+| 盐酸                  | 7647-01-0 | HCl        | Cl                                   |
-| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
+| 硫酸                  | 7664-93-9 | H2SO4      | OS(O)(=O)=O                          |
-| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
+| 氢氧化钠              | 1310-73-2 | NaOH       | [Na]O                                |
-| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
+| 碳酸钠                | 497-19-8  | Na2CO3     | [Na]OC([O-])=O.[Na+]                 |
-| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
+| 氯化钠                | 7647-14-5 | NaCl       | [Na]Cl                               |
+| 乙二胺四乙酸(EDTA)    | 60-00-4   | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
 
 > 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
 

.cursor/skills/batch-submit-experiment/SKILL.md

@@ -1,11 +1,13 @@
 ---
 name: batch-submit-experiment
-description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
+description: Batch submit experiments (notebooks) to the Uni-Lab cloud platform (leap-lab) — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
 ---
 
-# 批量提交实验指南
+# Uni-Lab 批量提交实验指南
 
-通过云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
+通过 Uni-Lab 云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
+
+> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
 
 ## 前置条件（缺一不可）
 
@@ -18,25 +20,28 @@ description: Batch submit experiments (notebooks) to Uni-Lab platform — list w
 生成 AUTH token（任选一种方式）：
 
 ```bash
-# 方式一：Python 一行生成
+# 方式一：Python 一行生成（注意：scheme 是 "Lab" 不是 "Basic"）
 python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
 
 # 方式二：手动计算
 # base64(ak:sk) → Authorization: Lab <token>
+# ⚠️ 这里的 "Lab" 是 Uni-Lab 平台的 auth scheme，绝对不能用 "Basic" 替代
 ```
 
 ### 2. --addr → BASE URL
 
-| `--addr` 值 | BASE |
+| `--addr` 值  | BASE                                |
-|-------------|------|
+| ------------ | ----------------------------------- |
-| `test` | `https://uni-lab.test.bohrium.com` |
+| `test`       | `https://leap-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `uat`        | `https://leap-lab.uat.bohrium.com`  |
-| `local` | `http://127.0.0.1:48197` |
+| `local`      | `http://127.0.0.1:48197`            |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 不传（默认） | `https://leap-lab.bohrium.com`      |
 
 确认后设置：
+
 ```bash
 BASE="<根据 addr 确定的 URL>"
+# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
 AUTH="Authorization: Lab <上面命令输出的 token>"
 ```
 
@@ -44,18 +49,19 @@ AUTH="Authorization: Lab <上面命令输出的 token>"
 
 **批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
 
-按优先级搜索：
+**必须先用 Glob 工具搜索文件**，不要直接猜测路径：
 
 ```
-<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+Glob: **/req_device_registry_upload.json
-<workspace 根目录>/req_device_registry_upload.json
 ```
 
-也可直接 Glob 搜索：`**/req_device_registry_upload.json`
+常见位置（仅供参考，以 Glob 实际结果为准）：
+- `<workspace>/unilabos_data/req_device_registry_upload.json`
+- `<workspace>/req_device_registry_upload.json`
 
 找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
 
-**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
+**如果 Glob 搜索无结果** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
 
 ### 4. workflow_uuid（目标工作流）
 
@@ -93,7 +99,7 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
 返回：
 
 ```json
-{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
 ```
 
 记住 `data.uuid` 为 `lab_uuid`。
@@ -104,9 +110,33 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
 curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
 ```
 
-返回项目列表，展示给用户选择。列出每个项目的 `uuid` 和 `name`。
+返回：
 
-用户**必须**选择一个项目，记住 `project_uuid`，后续创建 notebook 时需要提供。
+```json
+{
+  "code": 0,
+  "data": {
+    "items": [
+      {
+        "uuid": "1b3f249a-...",
+        "name": "bt",
+        "description": null,
+        "status": "active",
+        "created_at": "2026-04-09T14:31:28+08:00"
+      },
+      {
+        "uuid": "b6366243-...",
+        "name": "default",
+        "description": "默认项目",
+        "status": "active",
+        "created_at": "2026-03-26T11:13:36+08:00"
+      }
+    ]
+  }
+}
+```
+
+展示 `data.items[]` 中每个项目的 `name` 和 `uuid`，让用户选择。用户**必须**选择一个项目，记住 `project_uuid`（即选中项目的 `uuid`），后续创建 notebook 时需要提供。
 
 ### 3. 列出可用 workflow
 
@@ -123,6 +153,7 @@ curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$A
 ```
 
 返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
+
 - 每个 action 节点的 `node_uuid`
 - 每个节点对应的设备 ID（`resource_template_name`）
 - 每个节点的动作名（`node_template_name`）
@@ -142,30 +173,30 @@ curl -s -X POST "$BASE/api/v1/lab/notebook" \
 
 ```json
 {
-    "lab_uuid": "<lab_uuid>",
+  "lab_uuid": "<lab_uuid>",
-    "project_uuid": "<project_uuid>",
+  "project_uuid": "<project_uuid>",
-    "workflow_uuid": "<workflow_uuid>",
+  "workflow_uuid": "<workflow_uuid>",
-    "name": "<实验名称>",
+  "name": "<实验名称>",
-    "node_params": [
+  "node_params": [
+    {
+      "sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
+      "datas": [
         {
-            "sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
+          "node_uuid": "<workflow中的节点UUID>",
-            "datas": [
+          "param": {},
-                {
+          "sample_params": [
-                    "node_uuid": "<workflow中的节点UUID>",
+            {
-                    "param": {},
+              "container_uuid": "<容器UUID>",
-                    "sample_params": [
+              "sample_value": {
-                        {
+                "liquid_names": "<液体名称>",
-                            "container_uuid": "<容器UUID>",
+                "volumes": 1000
-                            "sample_value": {
+              }
-                                "liquid_names": "<液体名称>",
+            }
-                                "volumes": 1000
+          ]
-                            }
-                        }
-                    ]
-                }
-            ]
         }
-    ]
+      ]
+    }
+  ]
 }
 ```
 
@@ -194,25 +225,25 @@ curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
 
 ### 每轮的字段
 
-| 字段 | 类型 | 说明 |
+| 字段           | 类型          | 说明                                      |
-|------|------|------|
+| -------------- | ------------- | ----------------------------------------- |
 | `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
-| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
+| `datas`        | array         | 该轮中每个 workflow 节点的参数配置        |
 
 ### datas 中每个节点
 
-| 字段 | 类型 | 说明 |
+| 字段            | 类型   | 说明                                         |
-|------|------|------|
+| --------------- | ------ | -------------------------------------------- |
-| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #4 获取） |
+| `node_uuid`     | string | workflow 模板中的节点 UUID（从 API #4 获取） |
-| `param` | object | 动作参数（根据本地注册表 schema 填写） |
+| `param`         | object | 动作参数（根据本地注册表 schema 填写）       |
-| `sample_params` | array | 样品相关参数（液体名、体积等） |
+| `sample_params` | array  | 样品相关参数（液体名、体积等）               |
 
 ### sample_params 中每条
 
-| 字段 | 类型 | 说明 |
+| 字段             | 类型   | 说明                                                 |
-|------|------|------|
+| ---------------- | ------ | ---------------------------------------------------- |
-| `container_uuid` | string | 容器 UUID |
+| `container_uuid` | string | 容器 UUID                                            |
-| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
+| `sample_value`   | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
 
 ---
 
@@ -233,6 +264,7 @@ python scripts/gen_notebook_params.py \
 > 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
 
 脚本会：
+
 1. 调用 workflow detail API 获取所有 action 节点
 2. 读取本地注册表，为每个节点查找对应的 action schema
 3. 生成 `notebook_template.json`，包含：
@@ -270,8 +302,11 @@ python scripts/gen_notebook_params.py \
               "properties": {
                 "goal": {
                   "properties": {
-                    "asp_vols": {"type": "array", "items": {"type": "number"}},
+                    "asp_vols": {
-                    "sources": {"type": "array"}
+                      "type": "array",
+                      "items": { "type": "number" }
+                    },
+                    "sources": { "type": "array" }
                   },
                   "required": ["asp_vols", "sources"]
                 }

.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py

@@ -7,7 +7,7 @@
 
 选项:
   --auth <token>          Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
-  --base <url>            API 基础 URL（如 https://uni-lab.test.bohrium.com）
+  --base <url>            API 基础 URL（如 https://leap-lab.test.bohrium.com）
   --workflow-uuid <uuid>  目标 workflow 的 UUID
   --registry <path>       本地注册表文件路径（默认自动搜索）
   --rounds <n>            实验轮次数（默认 1）
@@ -17,7 +17,7 @@
 示例:
   python gen_notebook_params.py \\
     --auth YTFmZDlkNGUtxxxx \\
-    --base https://uni-lab.test.bohrium.com \\
+    --base https://leap-lab.test.bohrium.com \\
     --workflow-uuid abc-123-def \\
     --rounds 2
 """

.cursor/skills/create-device-skill/SKILL.md

@@ -40,13 +40,13 @@ python ./scripts/gen_auth.py --config <config.py>
 
 决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
 
-| `--addr` 值 | BASE URL |
+| `--addr` 值    | BASE URL                            |
-|-------------|----------|
+| -------------- | ----------------------------------- |
-| `test` | `https://uni-lab.test.bohrium.com` |
+| `test`         | `https://leap-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `uat`          | `https://leap-lab.uat.bohrium.com`  |
-| `local` | `http://127.0.0.1:48197` |
+| `local`        | `http://127.0.0.1:48197`            |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 不传（默认）   | `https://leap-lab.bohrium.com`      |
-| 其他自定义 URL | 直接使用该 URL |
+| 其他自定义 URL | 直接使用该 URL                      |
 
 #### 必备项 ③：req_device_registry_upload.json（设备注册表）
 
@@ -54,11 +54,11 @@ python ./scripts/gen_auth.py --config <config.py>
 
 **推断 working_dir**（即 `unilabos_data` 所在目录）：
 
-| 条件 | working_dir 取值 |
+| 条件                 | working_dir 取值                                         |
-|------|------------------|
+| -------------------- | -------------------------------------------------------- |
 | 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
-| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
+| 仅传了 `--config`    | `<config 文件所在目录>/unilabos_data/`                   |
-| 都没传 | `<当前工作目录>/unilabos_data/` |
+| 都没传               | `<当前工作目录>/unilabos_data/`                          |
 
 **按优先级搜索文件**：
 
@@ -84,24 +84,6 @@ python ./scripts/gen_auth.py --config <config.py>
 python ./scripts/extract_device_actions.py --registry <找到的文件路径>
 ```
 
-#### 完整示例
-
-用户提供：
-
-```
---ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
---sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
---addr test
---port 8003
---disable_browser
-```
-
-从中提取：
-- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
-- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
-- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
-- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
-
 **四项全部就绪后才进入 Step 1。**
 
 ### Step 1 — 列出可用设备
@@ -129,6 +111,7 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
 脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
 
 每个 action 生成一个 JSON 文件，包含：
+
 - `type` — 作为 API 调用的 `action_type`
 - `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
 - `goal` — goal 字段映射（含占位符 `$placeholder`）
@@ -136,13 +119,14 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
 
 ### Step 3 — 写 action-index.md
 
-按模板为每个 action 写条目：
+按模板为每个 action 写条目（**必须包含 `action_type`**）：
 
 ```markdown
 ### `<action_name>`
 
 <用途描述（一句话）>
 
+- **action_type**: `<从 actions/<name>.json 的 type 字段获取>`
 - **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
 - **核心参数**: `param1`, `param2`（从 schema.required 获取）
 - **可选参数**: `param3`, `param4`
@@ -150,6 +134,8 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
 ```
 
 描述规则：
+
+- **每个 action 必须标注 `action_type`**（从 JSON 的 `type` 字段读取），这是 API #9 调用时的必填参数，传错会导致任务永远卡住
 - 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
 - 从 `schema.required` 区分核心/可选参数
 - 按功能分类（移液、枪头、外设等）
@@ -165,6 +151,7 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
 ### Step 4 — 写 SKILL.md
 
 直接复用 `unilab-device-api` 的 API 模板，修改：
+
 - 设备名称
 - Action 数量
 - 目录列表
@@ -172,42 +159,77 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
 - **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
 - **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
 - **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
+- **action_type 速查表** — 在 API #9 说明后面紧跟一个表格，列出每个 action 对应的 `action_type` 值（从 JSON `type` 字段提取），方便 agent 快速查找而无需打开 JSON 文件
 
 API 模板结构：
 
 ```markdown
 ## 设备信息
+
 - device_id, Python 源码路径, 设备类名
 
 ## 前置条件（缺一不可）
+
 - ak/sk → AUTH, --addr → BASE URL
 
 ## 请求约定
+
 - Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
 
 ## Session State
+
 - lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
 
 ## API Endpoints
-# - #1  GET /edge/lab/info → 直接拿到 lab_uuid
+
-# - #2  创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
+# - #1 GET /edge/lab/info → 直接拿到 lab_uuid
-# - #3  创建节点 POST /edge/workflow/node
+
-#       body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
+# - #2 创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
-# - #4  删除节点 DELETE /lab/workflow/nodes
+
-# - #5  更新节点参数 PATCH /lab/workflow/node
+# - #3 创建节点 POST /edge/workflow/node
-# - #6  查询节点 handles POST /lab/workflow/node-handles
+
-#       body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
+# body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
-# - #7  批量创建边 POST /lab/workflow/edges
+
-#       body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
+# - #4 删除节点 DELETE /lab/workflow/nodes
-# - #8  启动工作流 POST /lab/workflow/{uuid}/run
+
-# - #9  运行设备单动作 POST /lab/mcp/run/action
+# - #5 更新节点参数 PATCH /lab/workflow/node
+
+# - #6 查询节点 handles POST /lab/workflow/node-handles
+
+# body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
+
+# - #7 批量创建边 POST /lab/workflow/edges
+
+# body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
+
+# - #8 启动工作流 POST /lab/workflow/{uuid}/run
+
+# - #9 运行设备单动作 POST /lab/mcp/run/action（⚠️ action_type 必须从 action-index.md 或 actions/<name>.json 的 type 字段获取，传错会导致任务永远卡住）
+
 # - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
+
 # - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
+
 # - #12 获取资源树 GET /lab/material/download/{lab_uuid}
+
 # - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
-#       返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
+
+# 返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
+
+# - #14 按名称查询物料模板 GET /lab/material/template/by-name?lab_uuid=&name=
+
+# 返回 res_template_uuid，用于 #15 创建物料时的必填字段
+
+# - #15 创建物料节点 POST /edge/material/node
+
+# body: {res_template_uuid(从#14获取), name(自定义), display_name, parent_uuid?(从#12获取), ...}
+
+# - #16 更新物料节点 PUT /edge/material/node
+
+# body: {uuid(从#12获取), display_name?, description?, init_param_data?, data?, ...}
 
 ## Placeholder Slot 填写规则
+
 - unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
 - unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
 - unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
@@ -217,13 +239,15 @@ API 模板结构：
 - 列出本设备所有 Slot 字段、类型及含义
 
 ## 渐进加载策略
+
 ## 完整工作流 Checklist
 ```
 
 ### Step 5 — 验证
 
 检查文件完整性：
-- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情）
+
+- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情、#14-#16 物料管理）
 - [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + create_resource 特例）和本设备的 Slot 字段表
 - [ ] `action-index.md` 列出所有 action 并有描述
 - [ ] `actions/` 目录中每个 action 有对应 JSON 文件
@@ -272,92 +296,48 @@ API 模板结构：
 
 `placeholder_keys` / `_unilabos_placeholder_info` 中有 5 种值，对应不同的填写方式：
 
-| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
+| placeholder 值         | Slot 类型       | 填写格式                                              | 选取范围                                  |
-|---------------|-----------|---------|---------|
+| ---------------------- | --------------- | ----------------------------------------------------- | ----------------------------------------- |
-| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
+| `unilabos_resources`   | ResourceSlot    | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备）                |
-| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
+| `unilabos_devices`     | DeviceSlot      | `"/parent/device_name"`                               | 仅**设备**节点（type=device），路径字符串 |
-| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
+| `unilabos_nodes`       | NodeSlot        | `"/parent/node_name"`                                 | **设备 + 物料**，即所有节点，路径字符串   |
-| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
+| `unilabos_class`       | ClassSlot       | `"class_name"`                                        | 注册表中已上报的资源类 name               |
-| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` | 资源树中物料节点的 **name**，配合液体配方 |
+| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]`            | 资源树中物料节点的 **name**，配合液体配方 |
 
 ### ResourceSlot（`unilabos_resources`）
 
 最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
 
-```json
+- 单个：`{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-..."}`
-{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
+- 数组：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
-```
+- `id` 从 parent 计算的路径格式，根据 action 语义选择正确的物料
 
-- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
+> **特例**：`create_resource` 的 `res_id`，目标物料可能尚不存在，直接填期望路径，不需要 uuid。
-- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
-- `id` 本身是从 parent 计算的路径格式
-- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
 
-> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
+### DeviceSlot / NodeSlot / ClassSlot
 
-### DeviceSlot（`unilabos_devices`）
+- **DeviceSlot**（`unilabos_devices`）：路径字符串如 `"/host_node"`，仅 type=device 的节点
-
+- **NodeSlot**（`unilabos_nodes`）：路径字符串如 `"/PRCXI/PRCXI_Deck"`，设备 + 物料均可选
-填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
+- **ClassSlot**（`unilabos_class`）：类名字符串如 `"container"`，从 `req_resource_registry_upload.json` 查找
-
-```
-"/host_node"
-"/bioyond_cell/reaction_station"
-```
-
-- 只填路径字符串，不需要 `{id, uuid}` 对象
-- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
-
-### NodeSlot（`unilabos_nodes`）
-
-范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
-
-```
-"/PRCXI/PRCXI_Deck"
-```
-
-- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
-
-### ClassSlot（`unilabos_class`）
-
-填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
-
-```
-"container"
-```
 
 ### FormulationSlot（`unilabos_formulation`）
 
-描述**液体配方**：向哪些物料容器中加入哪些液体及体积。填写为**对象数组**：
+描述**液体配方**：向哪些容器中加入哪些液体及体积。
 
 ```json
 [
   {
     "sample_uuid": "",
-    "well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1",
+    "well_name": "bottle_A1",
-    "liquids": [
+    "liquids": [{ "name": "LiPF6", "volume": 0.6 }]
-      { "name": "LiPF6", "volume": 0.6 },
-      { "name": "DMC", "volume": 1.2 }
-    ]
   }
 ]
 ```
 
-#### 字段说明
+- `well_name` — 目标物料的 **name**（从资源树取，不是 `id` 路径）
-
+- `liquids[]` — 液体列表，每条含 `name`（试剂名）和 `volume`（体积，单位由上下文决定；pylabrobot 内部统一 uL）
-| 字段 | 类型 | 说明 |
+- `sample_uuid` — 样品 UUID，无样品传 `""`
-|------|------|------|
+- 与 ResourceSlot 的区别：ResourceSlot 指向物料本身，FormulationSlot 引用物料名并附带配方信息
-| `sample_uuid` | string | 样品 UUID，无样品时传空字符串 `""` |
-| `well_name` | string | 目标物料容器的 **name**（从资源树中取物料节点的 `name` 字段，如瓶子、孔位名称） |
-| `liquids` | array | 要加入的液体列表 |
-| `liquids[].name` | string | 液体名称（如试剂名、溶剂名） |
-| `liquids[].volume` | number | 液体体积（单位由设备决定，通常为 mL） |
-
-#### 填写规则
-
-- `well_name` 必须是资源树中已存在的物料节点 `name`（不是 `id` 路径），通过 API #12 获取资源树后筛选
-- 每个数组元素代表一个目标容器的配方
-- 一个容器可以加入多种液体（`liquids` 数组多条记录）
-- 与 ResourceSlot 的区别：ResourceSlot 填 `{id, name, uuid}` 指向物料本身；FormulationSlot 用 `well_name` 引用物料，并附带液体配方信息
 
 ### 通过 API #12 获取资源树
 
@@ -365,7 +345,147 @@ API 模板结构：
 curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
 ```
 
-注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
+注意 `lab_uuid` 在路径中（不是查询参数）。返回结构：
+
+```json
+{
+  "code": 0,
+  "data": {
+    "nodes": [
+      {"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""},
+      {"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""},
+      {"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"}
+    ],
+    "edges": [...]
+  }
+}
+```
+
+- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`
+- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等）
+- `parent` 为父节点名称（空字符串表示顶级）
+- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点
+- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid`
+
+## 物料管理 API
+
+设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。
+
+典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。
+
+### API #14 — 按名称查询物料模板
+
+创建物料前，需要先获取物料模板的 UUID。通过模板名称查询：
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
+```
+
+| 参数       | 必填   | 说明                             |
+| ---------- | ------ | -------------------------------- |
+| `lab_uuid` | **是** | 实验室 UUID（从 API #1 获取）    |
+| `name`     | **是** | 物料模板名称（如 `"container"`） |
+
+返回 `code: 0` 时，**`data.uuid`** 即为 `res_template_uuid`，用于 API #15 创建物料。返回还包含 `name`、`resource_type`、`handles`、`config_infos` 等模板元信息。
+
+模板不存在时返回 `code: 10002`，`data` 为空对象。模板名称来自资源注册表中已注册的资源类型。
+
+### API #15 — 创建物料节点
+
+```bash
+curl -s -X POST "$BASE/api/v1/edge/material/node" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '<request_body>'
+```
+
+请求体：
+
+```json
+{
+  "res_template_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
+  "name": "my_custom_bottle",
+  "display_name": "自定义瓶子",
+  "parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
+  "type": "",
+  "init_param_data": {},
+  "schema": {},
+  "data": {
+    "liquids": [["water", 1000, "uL"]],
+    "max_volume": 50000
+  },
+  "plate_well_datas": {},
+  "plate_reagent_datas": {},
+  "pose": {},
+  "model": {}
+}
+```
+
+| 字段                  | 必填   | 类型          | 数据来源                            | 说明                                   |
+| --------------------- | ------ | ------------- | ----------------------------------- | -------------------------------------- |
+| `res_template_uuid`   | **是** | string (UUID) | **API #14** 按名称查询获取          | 物料模板 UUID                          |
+| `name`                | 否     | string        | **用户自定义**                      | 节点名称（标识符），可自由命名         |
+| `display_name`        | 否     | string        | 用户自定义                          | 显示名称（UI 展示用）                  |
+| `parent_uuid`         | 否     | string (UUID) | **API #12** 资源树中父节点的 `uuid` | 父节点，为空则创建顶级节点             |
+| `type`                | 否     | string        | 从模板继承                          | 节点类型                               |
+| `init_param_data`     | 否     | object        | 用户指定                            | 初始化参数，覆盖模板默认值             |
+| `data`                | 否     | object        | 用户指定                            | 节点数据，container 见下方 data 格式   |
+| `plate_well_datas`    | 否     | object        | 用户指定                            | 孔板子节点数据（创建带孔位的板时使用） |
+| `plate_reagent_datas` | 否     | object        | 用户指定                            | 试剂关联数据                           |
+| `schema`              | 否     | object        | 从模板继承                          | 自定义 schema，不传则从模板继承        |
+| `pose`                | 否     | object        | 用户指定                            | 位姿信息                               |
+| `model`               | 否     | object        | 用户指定                            | 3D 模型信息                            |
+
+#### container 的 `data` 格式
+
+> **体积单位统一为 uL（微升）**。pylabrobot 体系中所有体积值（`max_volume`、`liquids` 中的 volume）均为 uL。外部如果是 mL 需乘 1000 转换。
+
+```json
+{
+  "liquids": [["water", 1000, "uL"], ["ethanol", 500, "uL"]],
+  "max_volume": 50000
+}
+```
+
+- `liquids` — 液体列表，每条为 `[液体名称, 体积(uL), 单位字符串]`
+- `max_volume` — 容器最大容量（uL），如 50 mL = 50000 uL
+
+### API #16 — 更新物料节点
+
+```bash
+curl -s -X PUT "$BASE/api/v1/edge/material/node" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '<request_body>'
+```
+
+请求体：
+
+```json
+{
+  "uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
+  "parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
+  "display_name": "新显示名称",
+  "description": "新描述",
+  "init_param_data": {},
+  "data": {},
+  "pose": {},
+  "schema": {},
+  "extra": {}
+}
+```
+
+| 字段              | 必填   | 类型          | 数据来源                              | 说明             |
+| ----------------- | ------ | ------------- | ------------------------------------- | ---------------- |
+| `uuid`            | **是** | string (UUID) | **API #12** 资源树中目标节点的 `uuid` | 要更新的物料节点 |
+| `parent_uuid`     | 否     | string (UUID) | API #12 资源树                        | 移动到新父节点   |
+| `display_name`    | 否     | string        | 用户指定                              | 更新显示名称     |
+| `description`     | 否     | string        | 用户指定                              | 更新描述         |
+| `init_param_data` | 否     | object        | 用户指定                              | 更新初始化参数   |
+| `data`            | 否     | object        | 用户指定                              | 更新节点数据     |
+| `pose`            | 否     | object        | 用户指定                              | 更新位姿         |
+| `schema`          | 否     | object        | 用户指定                              | 更新 schema      |
+| `extra`           | 否     | object        | 用户指定                              | 更新扩展数据     |
+
+> 只传需要更新的字段，未传的字段保持不变。
 
 ## 最终目录结构
 

.cursor/skills/submit-agent-result/SKILL.md

@@ -1,11 +1,13 @@
 ---
 name: submit-agent-result
-description: Submit historical experiment results (agent_result) to Uni-Lab notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
+description: Submit historical experiment results (agent_result) to Uni-Lab cloud platform (leap-lab) notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
 ---
 
-# 提交历史实验记录指南
+# Uni-Lab 提交历史实验记录指南
 
-通过云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
+通过 Uni-Lab 云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
+
+> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
 
 ## 前置条件（缺一不可）
 
@@ -18,23 +20,26 @@ description: Submit historical experiment results (agent_result) to Uni-Lab note
 生成 AUTH token：
 
 ```bash
+# ⚠️ 注意：scheme 是 "Lab"（Uni-Lab 专用），不是 "Basic"
 python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
 ```
 
-输出即为 token 值，拼接为 `Authorization: Lab <token>`。
+输出即为 token 值，拼接为 `Authorization: Lab <token>`（`Lab` 是 Uni-Lab 平台 auth scheme，不可替换为 `Basic`）。
 
 ### 2. --addr → BASE URL
 
-| `--addr` 值 | BASE |
+| `--addr` 值  | BASE                                |
-|-------------|------|
+| ------------ | ----------------------------------- |
-| `test` | `https://uni-lab.test.bohrium.com` |
+| `test`       | `https://leap-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `uat`        | `https://leap-lab.uat.bohrium.com`  |
-| `local` | `http://127.0.0.1:48197` |
+| `local`      | `http://127.0.0.1:48197`            |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 不传（默认） | `https://leap-lab.bohrium.com`      |
 
 确认后设置：
+
 ```bash
 BASE="<根据 addr 确定的 URL>"
+# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
 AUTH="Authorization: Lab <上面命令输出的 token>"
 ```
 
@@ -45,6 +50,7 @@ AUTH="Authorization: Lab <上面命令输出的 token>"
 notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
 
 如果用户不记得，可提示：
+
 - 查看之前的对话记录中创建 notebook 时返回的 UUID
 - 或通过平台页面查找对应的 notebook
 
@@ -54,11 +60,11 @@ notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，
 
 用户需要提供实验结果数据，支持以下方式：
 
-| 方式 | 说明 |
+| 方式      | 说明                                            |
-|------|------|
+| --------- | ----------------------------------------------- |
-| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
+| JSON 文件 | 直接作为 `agent_result` 的内容合并              |
-| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
+| CSV 文件  | 转为 `{"文件名": [行数据...]}` 格式             |
-| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
+| 手动指定  | 用户直接告知 key-value 数据，由 agent 构建 JSON |
 
 **四项全部就绪后才可开始。**
 
@@ -90,7 +96,7 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
 返回：
 
 ```json
-{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
 ```
 
 记住 `data.uuid` 为 `lab_uuid`。
@@ -121,42 +127,45 @@ curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
 
 #### 必要字段
 
-| 字段 | 类型 | 说明 |
+| 字段            | 类型          | 说明                                        |
-|------|------|------|
+| --------------- | ------------- | ------------------------------------------- |
 | `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
-| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
+| `agent_result`  | object        | 实验结果数据，任意 JSON 对象                |
 
 #### agent_result 内容格式
 
 `agent_result` 接受**任意 JSON 对象**，常见格式：
 
 **简单键值对**：
+
 ```json
 {
-    "avg_rtt_ms": 12.5,
+  "avg_rtt_ms": 12.5,
-    "status": "success",
+  "status": "success",
-    "test_count": 5
+  "test_count": 5
 }
 ```
 
 **包含嵌套结构**：
+
 ```json
 {
-    "summary": {"total": 100, "passed": 98, "failed": 2},
+  "summary": { "total": 100, "passed": 98, "failed": 2 },
-    "measurements": [
+  "measurements": [
-        {"sample_id": "S001", "value": 3.14, "unit": "mg/mL"},
+    { "sample_id": "S001", "value": 3.14, "unit": "mg/mL" },
-        {"sample_id": "S002", "value": 2.71, "unit": "mg/mL"}
+    { "sample_id": "S002", "value": 2.71, "unit": "mg/mL" }
-    ]
+  ]
 }
 ```
 
 **从 CSV 文件导入**（脚本自动转换）：
+
 ```json
 {
-    "experiment_data": [
+  "experiment_data": [
-        {"温度": 25, "压力": 101.3, "产率": 0.85},
+    { "温度": 25, "压力": 101.3, "产率": 0.85 },
-        {"温度": 30, "压力": 101.3, "产率": 0.91}
+    { "温度": 30, "压力": 101.3, "产率": 0.91 }
-    ]
+  ]
 }
 ```
 
@@ -178,22 +187,22 @@ python scripts/prepare_agent_result.py \
     [--output <output.json>]
 ```
 
-| 参数 | 必选 | 说明 |
+| 参数              | 必选       | 说明                                            |
-|------|------|------|
+| ----------------- | ---------- | ----------------------------------------------- |
-| `--notebook-uuid` | 是 | 目标 notebook UUID |
+| `--notebook-uuid` | 是         | 目标 notebook UUID                              |
-| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
+| `--files`         | 是         | 输入文件路径（支持多个，JSON / CSV）            |
-| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
+| `--auth`          | 提交时必选 | Lab token（base64(ak:sk)）                      |
-| `--base` | 提交时必选 | API base URL |
+| `--base`          | 提交时必选 | API base URL                                    |
-| `--submit` | 否 | 加上此标志则直接提交到云端 |
+| `--submit`        | 否         | 加上此标志则直接提交到云端                      |
-| `--output` | 否 | 输出 JSON 路径（默认 `agent_result_body.json`） |
+| `--output`        | 否         | 输出 JSON 路径（默认 `agent_result_body.json`） |
 
 ### 文件合并规则
 
-| 文件类型 | 合并方式 |
+| 文件类型              | 合并方式                                     |
-|----------|----------|
+| --------------------- | -------------------------------------------- |
-| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
+| `.json`（dict）       | 字段直接合并到 `agent_result` 顶层           |
-| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
+| `.json`（list/other） | 以文件名为 key 放入 `agent_result`           |
-| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
+| `.csv`                | 以文件名（不含扩展名）为 key，值为行对象数组 |
 
 多个文件的字段会合并。JSON dict 中的重复 key 后者覆盖前者。
 
@@ -210,7 +219,7 @@ python scripts/prepare_agent_result.py \
     --notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
     --files results.json \
     --auth YTFmZDlkNGUt... \
-    --base https://uni-lab.test.bohrium.com \
+    --base https://leap-lab.test.bohrium.com \
     --submit
 ```
 
@@ -272,4 +281,4 @@ Task Progress:
 
 ### Q: 认证方式是 Lab 还是 Api？
 
-本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
+本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式（`Lab` 是 Uni-Lab 平台的 auth scheme，**绝不能用 `Basic` 替代**）。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。

.github/workflows/ci-check.yml

@@ -38,7 +38,7 @@ jobs:
       - name: Install ROS dependencies, uv and unilabos-msgs
         run: |
           echo Installing ROS dependencies...
-          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
+          mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
 
       - name: Install pip dependencies and unilabos
         run: |

.github/workflows/conda-pack-build.yml

@@ -1,6 +1,10 @@
 name: Build Conda-Pack Environment
 
 on:
+  # 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
+  workflow_run:
+    workflows: ["UniLabOS Conda Build"]
+    types: [completed]
   workflow_dispatch:
     inputs:
       branch:
@@ -21,6 +25,16 @@ on:
 
 jobs:
   build-conda-pack:
+    if: |
+      github.event_name == 'workflow_dispatch' ||
+      (
+        github.event_name == 'workflow_run' &&
+        github.event.workflow_run.conclusion == 'success' &&
+        github.event.workflow_run.event == 'workflow_run'
+      )
+    env:
+      BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
+      PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
     strategy:
       fail-fast: false
       matrix:
@@ -54,7 +68,9 @@ jobs:
         id: should_build
         shell: bash
         run: |
-          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
           elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
             echo "should_build=true" >> $GITHUB_OUTPUT
@@ -65,7 +81,7 @@ jobs:
       - uses: actions/checkout@v6
         if: steps.should_build.outputs.should_build == 'true'
         with:
-          ref: ${{ github.event.inputs.branch }}
+          ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
@@ -75,7 +91,7 @@ jobs:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -86,13 +102,13 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          echo Build full: ${{ github.event.inputs.build_full }}
+          echo Build full: ${{ env.BUILD_FULL }}
-          if "${{ github.event.inputs.build_full }}"=="true" (
+          if "${{ env.BUILD_FULL }}"=="true" (
             echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
           ) else (
             echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
           )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
@@ -101,13 +117,13 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          echo "Build full: ${{ github.event.inputs.build_full }}"
+          echo "Build full: ${{ env.BUILD_FULL }}"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
           else
             echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
           fi
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
@@ -134,27 +150,27 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Checking for available ros-humble-unilabos-msgs versions...
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
+          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
           echo.
           echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
 
       - name: Check for newer ros-humble-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "Checking for available ros-humble-unilabos-msgs versions..."
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
+          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
           echo ""
           echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Uninstalling existing unilabos...
           mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
-          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
+          echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
           mamba run -n unilab pip install .
           echo Verifying installation...
           mamba run -n unilab pip show unilabos
@@ -165,7 +181,7 @@ jobs:
         run: |
           echo "Uninstalling existing unilabos..."
           mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
+          echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
           mamba run -n unilab pip install .
           echo "Verifying installation..."
           mamba run -n unilab pip show unilabos
@@ -226,7 +242,9 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Packing unilab environment with conda-pack...
-          mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
+          echo Packing environment at: %UNILAB_PREFIX%
+          mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo Pack file created:
           dir unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -235,8 +253,9 @@ jobs:
         shell: bash
         run: |
           echo "Packing unilab environment with conda-pack..."
-          mamba install conda-pack -c conda-forge -y
+          UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          echo "Packing environment at: $UNILAB_PREFIX"
+          mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo "Pack file created:"
           ls -lh unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -267,7 +286,7 @@ jobs:
 
           rem Create README using Python script
           echo Creating: README.txt
-          python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
+          python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
 
           echo.
           echo Distribution package contents:
@@ -303,7 +322,7 @@ jobs:
 
           # Create README using Python script
           echo "Creating: README.txt"
-          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
+          python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
 
           echo ""
           echo "Distribution package contents:"
@@ -314,7 +333,7 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v6
         with:
-          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           path: dist-package/
           retention-days: 90
           if-no-files-found: error
@@ -326,9 +345,9 @@ jobs:
           echo Build Summary
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
-          echo Branch: ${{ github.event.inputs.branch }}
+          echo Branch: ${{ env.PACKAGE_REF }}
           echo Python version: 3.11.14
-          if "${{ github.event.inputs.build_full }}"=="true" (
+          if "${{ env.BUILD_FULL }}"=="true" (
             echo Package: unilabos-full ^(complete^)
           ) else (
             echo Package: unilabos ^(minimal^)
@@ -337,7 +356,7 @@ jobs:
           echo Distribution package contents:
           dir dist-package
           echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
+          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
           echo.
           echo After download, extract the ZIP and run:
           echo   install_unilab.bat
@@ -351,9 +370,9 @@ jobs:
           echo "Build Summary"
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
-          echo "Branch: ${{ github.event.inputs.branch }}"
+          echo "Branch: ${{ env.PACKAGE_REF }}"
           echo "Python version: 3.11.14"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Package: unilabos-full (complete)"
           else
             echo "Package: unilabos (minimal)"
@@ -362,7 +381,7 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
+          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
           echo ""
           echo "After download:"
           echo "  install_unilab.sh"

.github/workflows/deploy-docs.yml

@@ -56,7 +56,7 @@ jobs:
           miniforge-version: latest
           use-mamba: true
           python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -66,7 +66,7 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
 
       - name: Install latest unilabos from source
         run: |

.github/workflows/multi-platform-build.yml

@@ -10,6 +10,9 @@ on:
   # 支持 tag 推送（不依赖 CI Check）
   push:
     tags: ['v*']
+  # GitHub Release 发布时自动构建并上传
+  release:
+    types: [published]
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -80,7 +83,7 @@ jobs:
       - uses: actions/checkout@v6
         with:
           # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
-          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
+          ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -96,12 +99,13 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
-          miniconda-version: 'latest'
+          miniforge-version: latest
-          channels: conda-forge,robostack-staging,defaults
+          use-mamba: true
+          channels: conda-forge,robostack-staging
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -110,7 +114,7 @@ jobs:
       - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda install -c conda-forge rattler-build anaconda-client
+          mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
@@ -157,7 +161,13 @@ jobs:
           retention-days: 30
 
       - name: Upload to Anaconda.org (unilab organization)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'release' ||
+            startsWith(github.ref, 'refs/tags/') ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           for package in $(find ./output -name "*.conda"); do
             echo "Uploading $package to unilab organization..."

.github/workflows/unilabos-conda-build.yml

@@ -1,14 +1,10 @@
 name: UniLabOS Conda Build
 
 on:
-  # 在 CI Check 成功后自动触发
+  # 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
   workflow_run:
-    workflows: ["CI Check"]
+    workflows: ["Multi-Platform Conda Build"]
     types: [completed]
-    branches: [main, dev]
-  # 标签推送时直接触发（发布版本）
-  push:
-    tags: ['v*']
   # 手动触发
   workflow_dispatch:
     inputs:
@@ -33,30 +29,30 @@ on:
         type: boolean
 
 jobs:
-  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  # 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
-  wait-for-ci:
+  wait-for-upstream:
     runs-on: ubuntu-latest
     if: github.event_name == 'workflow_run'
     outputs:
       should_continue: ${{ steps.check.outputs.should_continue }}
     steps:
-      - name: Check CI status
+      - name: Check upstream workflow status
         id: check
         run: |
-          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
             echo "should_continue=true" >> $GITHUB_OUTPUT
-            echo "CI Check passed, proceeding with build"
+            echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
           else
             echo "should_continue=false" >> $GITHUB_OUTPUT
-            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+            echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
           fi
 
   build:
-    needs: [wait-for-ci]
+    needs: [wait-for-upstream]
-    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    # 运行条件：workflow_run 触发且上游成功，或者手动触发
     if: |
       always() &&
-      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
+      (needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -79,7 +75,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
         with:
-          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          # 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
           ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
@@ -96,12 +92,13 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - name: Setup Miniconda
+      - name: Setup Miniforge
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v3
         with:
-          miniconda-version: 'latest'
+          miniforge-version: latest
-          channels: conda-forge,robostack-staging,uni-lab,defaults
+          use-mamba: true
+          channels: conda-forge,robostack-staging,uni-lab
           channel-priority: strict
           activate-environment: build-env
           auto-update-conda: false
@@ -110,7 +107,7 @@ jobs:
       - name: Install rattler-build and anaconda-client
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          conda install -c conda-forge rattler-build anaconda-client
+          mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
 
       - name: Show environment info
         if: steps.should_build.outputs.should_build == 'true'
@@ -119,11 +116,11 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
           echo "Building packages:"
           echo "  - unilabos-env (environment dependencies)"
           echo "  - unilabos (with pip package)"
-          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+          if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
             echo "  - unilabos-full (complete package)"
           fi
 
@@ -134,7 +131,12 @@ jobs:
           rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
 
       - name: Upload unilabos-env to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'workflow_run' ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           echo "Uploading unilabos-env to uni-lab organization..."
           for package in $(find ./output -name "unilabos-env*.conda"); do
@@ -149,7 +151,12 @@ jobs:
           rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
 
       - name: Upload unilabos to Anaconda.org (if enabled)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        if: |
+          steps.should_build.outputs.should_build == 'true' &&
+          (
+            github.event_name == 'workflow_run' ||
+            github.event.inputs.upload_to_anaconda == 'true'
+          )
         run: |
           echo "Uploading unilabos to uni-lab organization..."
           for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
@@ -159,6 +166,7 @@ jobs:
       - name: Build unilabos-full - Only when explicitly requested
         if: |
           steps.should_build.outputs.should_build == 'true' && 
+          github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true'
         run: |
           echo "Building unilabos-full package on ${{ matrix.platform }}..."
@@ -167,6 +175,7 @@ jobs:
       - name: Upload unilabos-full to Anaconda.org (if enabled)
         if: |
           steps.should_build.outputs.should_build == 'true' && 
+          github.event_name == 'workflow_dispatch' &&
           github.event.inputs.build_full == 'true' &&
           github.event.inputs.upload_to_anaconda == 'true'
         run: |

docs/advanced_usage/configuration.md

@@ -12,7 +12,7 @@ Uni-Lab 使用 Python 格式的配置文件（`.py`），默认为 `unilabos_dat
 
 **获取方式：**
 
-进入 [Uni-Lab 实验室](https://uni-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
+进入 [Uni-Lab 实验室](https://leap-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
 
 ![copy_aksk.gif](image/copy_aksk.gif)
 
@@ -69,7 +69,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"  # 远程服务器地址
+    remote_addr = "https://leap-lab.bohrium.com/api/v1"  # 远程服务器地址
 
 # ROS配置
 class ROSConfig:
@@ -209,8 +209,8 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
 
 `--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
 
-- `test` → `https://uni-lab.test.bohrium.com/api/v1`
+- `test` → `https://leap-lab.test.bohrium.com/api/v1`
-- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
+- `uat` → `https://leap-lab.uat.bohrium.com/api/v1`
 - `local` → `http://127.0.0.1:48197/api/v1`
 - 其他值 → 直接使用作为完整 URL
 
@@ -248,7 +248,7 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
 
 `ak` 和 `sk` 是必需的认证参数：
 
-1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
+1. **获取方式**：在 [Uni-Lab 官网](https://leap-lab.bohrium.com) 注册实验室后获得
 2. **配置方式**：
    - **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级，推荐）
    - **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
@@ -275,15 +275,15 @@ WebSocket 是 Uni-Lab 的主要通信方式：
 
 HTTP 客户端配置用于与云端服务通信：
 
-| 参数          | 类型 | 默认值                                 | 说明         |
+| 参数          | 类型 | 默认值                                  | 说明         |
-| ------------- | ---- | -------------------------------------- | ------------ |
+| ------------- | ---- | --------------------------------------- | ------------ |
-| `remote_addr` | str  | `"https://uni-lab.bohrium.com/api/v1"` | 远程服务地址 |
+| `remote_addr` | str  | `"https://leap-lab.bohrium.com/api/v1"` | 远程服务地址 |
 
 **预设环境地址**：
 
-- 生产环境：`https://uni-lab.bohrium.com/api/v1`（默认）
+- 生产环境：`https://leap-lab.bohrium.com/api/v1`（默认）
-- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
+- 测试环境：`https://leap-lab.test.bohrium.com/api/v1`
-- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
+- UAT 环境：`https://leap-lab.uat.bohrium.com/api/v1`
 - 本地环境：`http://127.0.0.1:48197/api/v1`
 
 ### 4. ROSConfig - ROS 配置
@@ -401,7 +401,7 @@ export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
 export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
 
 # 设置HTTP配置
-export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.test.bohrium.com/api/v1"
+export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://leap-lab.test.bohrium.com/api/v1"
 ```
 
 ## 配置文件使用方法
@@ -484,13 +484,13 @@ export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS=100
 
 ```python
 class HTTPConfig:
-    remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+    remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
 ```
 
 **环境变量方式：**
 
 ```bash
-export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://uni-lab.test.bohrium.com/api/v1
+export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://leap-lab.test.bohrium.com/api/v1
 ```
 
 **命令行方式（推荐）：**

docs/developer_guide/networking_overview.md

@@ -23,7 +23,7 @@ Uni-Lab-OS 支持多种部署模式：
 ```
 ┌──────────────────────────────────────────────┐
 │      Cloud Platform/Self-hosted Platform     │
-│           uni-lab.bohrium.com                │
+│           leap-lab.bohrium.com                │
 │  (Resource Management, Task Scheduling,      │
 │              Monitoring)                     │
 └────────────────────┬─────────────────────────┘
@@ -444,7 +444,7 @@ ros2 daemon stop && ros2 daemon start
 
 ```bash
 # 测试云端连接
-curl https://uni-lab.bohrium.com/api/v1/health
+curl https://leap-lab.bohrium.com/api/v1/health
 
 # 测试WebSocket
 # 启动Uni-Lab后查看日志

docs/moveit2_integration_summary.md

@@ -467,43 +467,58 @@ set_status(command_json)
 #### 2.1.9 核心方法详解：`pick_and_place`
 
 ```python
-def pick_and_place(self, command: str)
+def pick_and_place(
+    self,
+    option: str,
+    move_group: str,
+    status: str,
+    resource: Optional[str] = None,
+    x_distance: Optional[float] = None,
+    y_distance: Optional[float] = None,
+    lift_height: Optional[float] = None,
+    retry: Optional[int] = None,
+    speed: Optional[float] = None,
+    target: Optional[str] = None,
+    constraints: Optional[Sequence[float]] = None,
+) -> None:
 ```
 
 这是 `MoveitInterface` 最复杂的方法，实现了完整的抓取-放置工作流。它动态构建一个**有序函数列表** (`function_list`)，然后顺序执行。
 
-**JSON 指令格式（完整参数）：**
+**破坏性变更（注册表 / 客户端）**：`pick_and_place` 在注册表中由 **SendCmd**（单字段 `command` JSON 字符串）改为 **UniLabJsonCommand**，goal 为与上表同名的**结构化字段**。云端与其它调用方需按 schema 提交 goal，而不再把整段 JSON 塞进 `command`。
+
+**动作 goal 示例（字段与旧版 JSON 一致，现为结构化 goal）：**
 
 ```json
 {
-    "option": "pick",                         // *必须: pick/place/side_pick/side_place
+    "option": "pick",
-    "move_group": "arm",                      // *必须: MoveIt2 规划组名
+    "move_group": "arm",
-    "status": "pick_station_A",               // *必须: 在 joint_poses 中的目标状态名
+    "status": "pick_station_A",
-    "resource": "beaker_1",                   //  要操作的资源名称
+    "resource": "beaker_1",
-    "target": "custom_link",                  //  pick 时资源附着的目标 link (默认末端执行器)
+    "target": "custom_link",
-    "lift_height": 0.05,                      //  抬升高度 (米)
+    "lift_height": 0.05,
-    "x_distance": 0.1,                        //  X 方向水平移动距离 (米)
+    "x_distance": 0.1,
-    "y_distance": 0.0,                        //  Y 方向水平移动距离 (米)
+    "y_distance": 0.0,
-    "speed": 0.5,                             //  运动速度因子 (0.1~1.0)
+    "speed": 0.5,
-    "retry": 10,                              //  规划失败重试次数
+    "retry": 10,
-    "constraints": [0, 0, 0, 0.5, 0, 0]       //  各关节约束容差 (>0 时生效)
+    "constraints": [0, 0, 0, 0.5, 0, 0]
 }
 ```
 
-##### 阶段 1：指令解析与动作类型判定
+##### 阶段 1：参数与动作类型判定
 
 ```
-pick_and_place(command_json)
+pick_and_place(option, move_group, status, ...)
     │
-    ├── JSON 解析
+    ├── 校验 option ∈ move_option，否则直接 return
     ├── 动作类型判定:
     │   move_option = ["pick", "place", "side_pick", "side_place"]
     │                    0        1         2            3
-    │   option_index = move_option.index(cmd["option"])
+    │   option_index = move_option.index(option)
     │   place_flag   = option_index % 2    ← 0=pick类, 1=place类
     │
     ├── 提取运动参数:
-    │   config = {speed, retry, move_group}  ← 从 cmd_dict 中按需提取
+    │   config = { move_group }；若 speed/retry 非 None 则写入 config
     │
     └── 获取目标关节位姿:
         joint_positions_ = joint_poses[move_group][status]
@@ -515,7 +530,7 @@ pick_and_place(command_json)
 根据 place_flag 决定资源 TF 操作:
 
     if pick 类 (place_flag == 0):
-        if "target" 已指定:
+        if target is not None:
             function_list += [resource_manager(resource, target)]       ← 挂到自定义 link
         else:
             function_list += [resource_manager(resource, end_effector)] ← 挂到末端执行器
@@ -527,7 +542,7 @@ pick_and_place(command_json)
 ##### 阶段 3：构建关节约束
 
 ```
-if "constraints" 存在于指令中:
+if constraints is not None:
     for i, tolerance in enumerate(constraints):
         if tolerance > 0:
             JointConstraint(
@@ -546,7 +561,7 @@ if "constraints" 存在于指令中:
 这是最复杂的场景，涉及 FK/IK 计算和多段运动拼接：
 
 ```
-if "lift_height" 存在:
+if lift_height is not None:
     │
     ├── Step 1: FK 计算 → 获取目标关节配置对应的末端位姿
     │   retval = compute_fk(joint_positions_)   ← 可能需要重试
@@ -562,12 +577,12 @@ if "lift_height" 存在:
     │   function_list += [moveit_task(position=pose_lifted, ...)]
     │
     ├── Step 4 (可选): 水平移动
-    │   if "x_distance":
+    │   if x_distance is not None:
     │       deep_pose = copy(pose_lifted)
     │       deep_pose[0] += x_distance
     │       function_list = [moveit_task(pose_lifted)] + function_list
     │       function_list += [moveit_task(deep_pose)]
-    │   elif "y_distance":
+    │   elif y_distance is not None:
     │       类似处理 Y 方向
     │
     ├── Step 5: IK 预计算 → 将末端位姿转换为安全的关节配置
@@ -585,7 +600,7 @@ if "lift_height" 存在:
 ##### 阶段 4B：无 `lift_height` 的简单流程
 
 ```
-else (无 lift_height):
+else (lift_height is None):
     │
     └── 直接关节运动到目标位姿
         function_list = [moveit_joint_task(joint_positions_)] + function_list
@@ -600,10 +615,10 @@ for i, func in enumerate(function_list):
     │   i == 0: cartesian_flag = False    ← 第一步用自由空间规划（大范围移动）
     │   i >  0: cartesian_flag = True     ← 后续用笛卡尔直线规划（精确控制）
     │
-    ├── result = func()                   ← 执行动作
+    ├── re = func()                       ← 执行动作
     │
-    └── if not result:
+    └── if not re:
-        return failure                    ← 任一步骤失败即中止
+        return（无返回值，不构造 SendCmd.Result）← 任一步骤失败即中止
 ```
 
 ##### 完整 pick 流程示例（含 lift_height + x_distance）
@@ -657,10 +672,10 @@ for i, func in enumerate(function_list):
 | `.move_to_pose(...)` | `moveit_task` L129-137 | 笛卡尔空间运动规划与执行 |
 | `.wait_until_executed()` | `moveit_task` L138, `moveit_joint_task` L157 | 阻塞等待运动完成 |
 | `.move_to_configuration(...)` | `moveit_joint_task` L156 | 关节空间运动规划与执行 |
-| `.compute_fk(...)` | `pick_and_place` L244, `moveit_joint_task` L160 | 正运动学：关节角 → 末端位姿 |
+| `.compute_fk(...)` | `pick_and_place`, `moveit_joint_task` | 正运动学：关节角 → 末端位姿 |
-| `.compute_ik(...)` | `pick_and_place` L298-300 | 逆运动学：末端位姿 → 关节角（含约束） |
+| `.compute_ik(...)` | `pick_and_place` | 逆运动学：末端位姿 → 关节角（含约束） |
-| `.end_effector_name` | `pick_and_place` L218 | 获取末端执行器 link 名 |
+| `.end_effector_name` | `pick_and_place` | 获取末端执行器 link 名 |
-| `.joint_names` | `pick_and_place` L232, L308, L313 | 获取关节名列表 |
+| `.joint_names` | `pick_and_place` | 获取关节名列表 |
 
 ---
 
@@ -668,11 +683,11 @@ for i, func in enumerate(function_list):
 
 | 场景 | 处理方式 |
 |------|---------|
-| FK 计算失败 | 最多重试 `retry` 次（每次间隔 0.1s），超时返回 `result.success = False` |
+| FK 计算失败 | 最多重试 `retry` 次（每次间隔 0.1s），超时则提前 `return`（无返回值） |
 | IK 计算失败 | 同上 |
 | 运动规划失败 | 在 `moveit_task` / `moveit_joint_task` 中最多重试 `retry+1` 次 |
-| 动作序列中任一步失败 | `pick_and_place` 立即中止并返回 `result.success = False` |
+| 动作序列中任一步失败 | `pick_and_place` 立即中止并 `return`（不返回 `SendCmd.Result`） |
-| 未知异常 | `pick_and_place` 和 `set_status` 捕获 Exception，重置 `cartesian_flag`，返回失败 |
+| 未知异常 | `pick_and_place` 捕获 Exception，打印并重置 `cartesian_flag`（`set_status` 仍返回 SendCmd.Result） |
 
 ---
 
@@ -702,7 +717,8 @@ for i, func in enumerate(function_list):
 ```
 外部系统 (base_device_node)
     │
-    │  JSON 指令字符串
+    │  set_position/set_status: JSON 指令字符串（SendCmd.command）
+    │  pick_and_place: UniLabJsonCommand 结构化 goal → Python 关键字参数
     ▼
 ┌── MoveitInterface ──────────────────────────────────────────────────┐
 │                                                                     │
@@ -710,7 +726,7 @@ for i, func in enumerate(function_list):
 │                                                                     │
 │  set_status(cmd) ──→ moveit_joint_task() ──→ MoveIt2.move_to_config│
 │                                                                     │
-│  pick_and_place(cmd)                                                │
+│  pick_and_place(option, move_group, status, ...)                    │
 │    │                                                                │
 │    ├─ MoveIt2.compute_fk() ─── /compute_fk service ──→ move_group  │
 │    ├─ MoveIt2.compute_ik() ─── /compute_ik service ──→ move_group  │
@@ -963,7 +979,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
     module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
     type: python
     action_value_mappings:
-      pick_and_place: ...    # SendCmd Action（JSON 指令）
+      pick_and_place: ...    # UniLabJsonCommand（结构化 goal，与 Python 签名一致）
       set_position: ...      # SendCmd Action
       set_status: ...        # SendCmd Action
       auto-moveit_task: ...  # 自动发现的方法（UniLabJsonCommand）

docs/user_guide/best_practice.md

@@ -33,11 +33,11 @@
 
 **选择合适的安装包：**
 
-| 安装包 | 适用场景 | 包含组件 |
+| 安装包          | 适用场景                     | 包含组件                                      |
-|--------|----------|----------|
+| --------------- | ---------------------------- | --------------------------------------------- |
-| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
+| `unilabos`      | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用                          |
-| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
+| `unilabos-env`  | 开发者（可编辑安装）         | 仅环境依赖，通过 pip 安装 unilabos            |
-| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
+| `unilabos-full` | 仿真/可视化                  | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
 
 **关键步骤：**
 
@@ -66,6 +66,7 @@ mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
 **选择建议：**
+
 - **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
 - **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
 - **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
@@ -88,7 +89,7 @@ python -c "from unilabos_msgs.msg import Resource; print('ROS msgs OK')"
 
 #### 2.1 注册实验室账号
 
-1. 访问 [https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
+1. 访问 [https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
 2. 注册账号并登录
 3. 创建新实验室
 
@@ -297,7 +298,7 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 
 #### 5.2 访问 Web 界面
 
-启动系统后，访问[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
+启动系统后，访问[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
 
 #### 5.3 添加设备和物料
 
@@ -306,12 +307,10 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 **示例场景：** 创建一个简单的液体转移实验
 
 1. **添加工作站（必需）：**
-
    - 在"仪器设备"中找到 `work_station`
    - 添加 `workstation` x1
 
 2. **添加虚拟转移泵：**
-
    - 在"仪器设备"中找到 `virtual_device`
    - 添加 `virtual_transfer_pump` x1
 
@@ -818,6 +817,7 @@ uv pip install -r unilabos/utils/requirements.txt
 ```
 
 **为什么使用这种方式？**
+
 - `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
 - `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
 - `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
@@ -1796,32 +1796,27 @@ unilab --ak your_ak --sk your_sk -g graph.json \
 **详细步骤：**
 
 1. **需求分析**：
-
    - 明确实验流程
    - 列出所需设备和物料
    - 设计工作流程图
 
 2. **环境搭建**：
-
    - 安装 Uni-Lab-OS
    - 创建实验室账号
    - 准备开发工具（IDE、Git）
 
 3. **原型验证**：
-
    - 使用虚拟设备测试流程
    - 验证工作流逻辑
    - 调整参数
 
 4. **迭代开发**：
-
    - 实现自定义设备驱动（同时撰写单点函数测试）
    - 编写注册表
    - 单元测试
    - 集成测试
 
 5. **测试部署**：
-
    - 连接真实硬件
    - 空跑测试
    - 小规模试验
@@ -1871,7 +1866,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
 #### 14.5 社区支持
 
 - **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
-- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
+- **官方网站**：[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
 
 ---
 

docs/user_guide/graph_files.md

@@ -626,7 +626,7 @@ unilab
 
 **云端图文件管理**:
 
-1. 登录 https://uni-lab.bohrium.com
+1. 登录 https://leap-lab.bohrium.com
 2. 进入"设备配置"
 3. 创建或编辑配置
 4. 保存到云端

docs/user_guide/launch.md

@@ -54,7 +54,6 @@ Uni-Lab 的启动过程分为以下几个阶段：
 您可以直接跟随 unilabos 的提示进行，无需查阅本节
 
 - **工作目录设置**：
-
   - 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
   - 否则使用 `当前目录/unilabos_data` 作为工作目录
   - 可通过 `--working_dir` 指定自定义工作目录
@@ -68,8 +67,8 @@ Uni-Lab 的启动过程分为以下几个阶段：
 
 支持多种后端环境：
 
-- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
+- `--addr test`：测试环境 (`https://leap-lab.test.bohrium.com/api/v1`)
-- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
+- `--addr uat`：UAT 环境 (`https://leap-lab.uat.bohrium.com/api/v1`)
 - `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
 - 自定义地址：直接指定完整 URL
 
@@ -176,7 +175,7 @@ unilab --config path/to/your/config.py
 
 如果是首次使用，系统会：
 
-1. 提示前往 https://uni-lab.bohrium.com 注册实验室
+1. 提示前往 https://leap-lab.bohrium.com 注册实验室
 2. 引导创建配置文件
 3. 设置工作目录
 
@@ -216,7 +215,7 @@ unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
 
 如果提示 "后续运行必须拥有一个实验室"，请确保：
 
-- 已在 https://uni-lab.bohrium.com 注册实验室
+- 已在 https://leap-lab.bohrium.com 注册实验室
 - 正确设置了 `--ak` 和 `--sk` 参数
 - 配置文件中包含正确的认证信息
 

recipes/conda_build_config.yaml

@@ -1,5 +1,5 @@
 channel_sources:
-  - robostack,robostack-staging,conda-forge,defaults
+  - robostack,robostack-staging,conda-forge
   
 gazebo:
   - '11'

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.11.1
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.19"
+  version: "0.11.1"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.19',
+    version='0.11.1',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.11.1"

unilabos/app/main.py

@@ -12,6 +12,15 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
+# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
+# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
+if sys.platform == "win32":
+    for _stream in (sys.stdout, sys.stderr):
+        try:
+            _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
+        except (AttributeError, OSError):
+            pass
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -233,7 +242,7 @@ def parse_args():
     parser.add_argument(
         "--addr",
         type=str,
-        default="https://uni-lab.bohrium.com/api/v1",
+        default="https://leap-lab.bohrium.com/api/v1",
         help="Laboratory backend address",
     )
     parser.add_argument(
@@ -438,10 +447,10 @@ def main():
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
             print_status("使用测试环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+            HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
         elif args.addr == "uat":
             print_status("使用uat环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
+            HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
         elif args.addr == "local":
             print_status("使用本地环境地址", "info")
             HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
@@ -553,7 +562,7 @@ def main():
         os._exit(0)
 
     if not BasicConfig.ak or not BasicConfig.sk:
-        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+        print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
         os._exit(1)
     graph: nx.Graph
     resource_tree_set: ResourceTreeSet

unilabos/app/web/client.py

@@ -36,6 +36,9 @@ class HTTPClient:
             auth_secret = BasicConfig.auth_secret()
             self.auth = auth_secret
             info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
+        # 复用 TCP/TLS 连接，避免每次请求重新握手
+        self._session = requests.Session()
+        self._session.headers.update({"Authorization": f"Lab {self.auth}"})
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
     def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
@@ -48,7 +51,7 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/edge/material/edge",
             json={
                 "edges": resources,
@@ -75,26 +78,28 @@ class HTTPClient:
         Returns:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
-        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
+        # dump() 只调用一次，复用给文件保存和 HTTP 请求
-            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
-            f.write(json.dumps(payload, indent=4))
-        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
-        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         nodes_info = [x for xs in resources.dump() for x in xs]
+        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
+        payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
+        body_bytes = _fast_dumps(payload)
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
+            f.write(_fast_dumps_pretty(payload))
+        http_headers = {"Content-Type": "application/json"}
         if not self.initialized or first_add:
             self.initialized = True
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": nodes_info, "mount_uuid": mount_uuid},
+                data=body_bytes,
-                headers={"Authorization": f"Lab {self.auth}"},
+                headers=http_headers,
                 timeout=60,
             )
         else:
-            response = requests.put(
+            response = self._session.put(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": nodes_info, "mount_uuid": mount_uuid},
+                data=body_bytes,
-                headers={"Authorization": f"Lab {self.auth}"},
+                headers=http_headers,
                 timeout=10,
             )
 
@@ -133,7 +138,7 @@ class HTTPClient:
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
             f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/edge/material/query",
             json={"uuids": uuid_list, "with_children": with_children},
             headers={"Authorization": f"Lab {self.auth}"},
@@ -147,6 +152,7 @@ class HTTPClient:
                 logger.error(f"查询物料失败: {response.text}")
             else:
                 data = res["data"]["nodes"]
+                logger.trace(f"resource_tree_get查询到物料: {data}")
                 return data
         else:
             logger.error(f"查询物料失败: {response.text}")
@@ -164,14 +170,14 @@ class HTTPClient:
         if not self.initialized:
             self.initialized = True
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=100,
             )
         else:
-            response = requests.put(
+            response = self._session.put(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
@@ -198,7 +204,7 @@ class HTTPClient:
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
             f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
-        response = requests.get(
+        response = self._session.get(
             f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
             headers={"Authorization": f"Lab {self.auth}"},
@@ -239,14 +245,14 @@ class HTTPClient:
         if not self.initialized:
             self.initialized = True
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=100,
             )
         else:
-            response = requests.put(
+            response = self._session.put(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
@@ -276,7 +282,7 @@ class HTTPClient:
         with open(file_path, "rb") as file:
             files = {"files": file}
             logger.info(f"上传文件: {file_path} 到 {scene}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
                 headers={"Authorization": f"Lab {self.auth}"},
@@ -316,7 +322,7 @@ class HTTPClient:
             "Content-Type": "application/json",
             "Content-Encoding": "gzip",
         }
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/lab/resource",
             data=compressed_body,
             headers=headers,
@@ -350,7 +356,7 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        response = requests.get(
+        response = self._session.get(
             f"{self.remote_addr}/edge/material/download",
             headers={"Authorization": f"Lab {self.auth}"},
             timeout=(3, 30),
@@ -411,7 +417,7 @@ class HTTPClient:
         with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
             f.write(json.dumps(payload, indent=4, ensure_ascii=False))
 
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/lab/workflow/owner/import",
             json=payload,
             headers={"Authorization": f"Lab {self.auth}"},

unilabos/app/ws_client.py

@@ -1269,7 +1269,13 @@ class QueueProcessor:
         if not queued_jobs:
             return
 
-        logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
+        queue_summary = {}
+        for j in queued_jobs:
+            key = f"{j.device_id}/{j.action_name}"
+            queue_summary[key] = queue_summary.get(key, 0) + 1
+        logger.debug(
+            f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
+        )
 
         for job_info in queued_jobs:
             # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，

unilabos/config/config.py

@@ -46,7 +46,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"
+    remote_addr = "https://leap-lab.bohrium.com/api/v1"
 
 
 # ROS配置

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -61,6 +61,7 @@ class TransferLiquidReturn(TypedDict):
 
 
 class LiquidHandlerMiddleware(LiquidHandler):
+    _ros_node: ROS2DeviceNode
     def __init__(
         self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
     ):
@@ -79,6 +80,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
         super().__init__(backend, deck)
 
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        self._ros_node = ros_node
+        if getattr(self, "_simulator", False) and getattr(self, "_simulate_handler", None) is not None:
+            self._simulate_handler._ros_node = ros_node
+
     async def setup(self, **backend_kwargs):
         if self._simulator:
             return await self._simulate_handler.setup(**backend_kwargs)
@@ -152,7 +158,20 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
-        return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+        # 让 PLR 走标准链路：tracker.remove_tip -> 成功 commit / 失败 rollback，
+        # 由此 TipSpot.has_tip() 自动反映为 False，符合 LiquidHandler 规范。
+        result = await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
+        for tip_spot in tip_spots:
+            tip_spot.empty()
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": tip_spots})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"pick_up_tips {tip_spots} 超时")
+                    break
+                time.sleep(0.01)
+        return result
 
     async def drop_tips(
         self,
@@ -360,6 +379,16 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 EXTRA_SAMPLE_UUID: sample_uuid_value,
                 "volume": volume,
             }
+
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": resources})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"aspirate {resources} 超时")
+                    break
+                time.sleep(0.01)
+
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
 
     async def dispense(
@@ -495,6 +524,15 @@ class LiquidHandlerMiddleware(LiquidHandler):
             res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
             res_volumes.append(volume)
 
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": resources})
+            submit_time = time.time()
+            while not task.done():
+                if time.time() - submit_time > 10:
+                    self._ros_node.lab_logger().info(f"dispense {resources} 超时")
+                    break
+                time.sleep(0.01)
+
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
 
     async def transfer(
@@ -880,7 +918,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         super().__init__(backend_type, deck, simulator, channel_num, total_height=total_height, **kwargs)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
-        self._ros_node = ros_node
+        super().post_init(ros_node)
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
 
     async def _resolve_to_plr_resources(
         self,
@@ -1033,13 +1074,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             well.set_liquids([(liquid_name, safe_volume)])  # type: ignore
             res_volumes.append(safe_volume)
 
-        task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
+        if hasattr(self, "_ros_node") and self._ros_node is not None:
-        submit_time = time.time()
+            task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
-        while not task.done():
+            submit_time = time.time()
-            if time.time() - submit_time > 10:
+            while not task.done():
-                self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
+                if time.time() - submit_time > 10:
-                break
+                    self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
-            time.sleep(0.01)
+                    break
+                time.sleep(0.01)
 
         return SetLiquidFromPlateReturn(
             plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
@@ -1446,6 +1488,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
+        pre_aspirate_from_target: Optional[float] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
         """Transfer liquid with automatic mode detection.
@@ -1597,6 +1640,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i, wrap=False)
                 if delays is not None:
                     kwargs['delays'] = safe_get(delays, i)
+                if pre_aspirate_from_target is not None:
+                    kwargs['pre_aspirate_from_target'] = safe_get(pre_aspirate_from_target, i)
 
                 cur_source = sources[i % num_sources]
                 cur_target = targets[i % num_targets]
@@ -1656,6 +1701,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_rate = kwargs.get('mix_rate')
         mix_liquid_height = kwargs.get('mix_liquid_height')
         delays = kwargs.get('delays')
+        pre_aspirate_from_target = kwargs.get('pre_aspirate_from_target')
 
         tip = []
         if pick_up:

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -149,6 +149,40 @@ class PRCXI9300Deck(Deck):
         pos = self.sites[idx]["position"]
         return Coordinate(pos["x"], pos["y"], pos["z"])
 
+    def get_slot_location(self, slot: Union[int, str]) -> Coordinate:
+        """根据 slot 标识返回该 slot 的坐标。
+
+        支持的输入：
+        - int: 1-based slot 序号（与 ``assign_child_at_slot`` 一致），1 → sites[0]
+        - str: 纯数字字符串 ``"3"``，或带前缀的 label ``"T3"``（不区分大小写）
+
+        Raises:
+            ValueError: slot 解析失败或越界
+        """
+        idx: Optional[int] = None
+        if isinstance(slot, int):
+            idx = slot - 1
+        elif isinstance(slot, str):
+            s = slot.strip()
+            if not s:
+                raise ValueError(f"空 slot 标识")
+            digits = s[1:] if s[0].isalpha() else s
+            try:
+                idx = int(digits) - 1
+            except ValueError:
+                # 退而求其次：直接按 label 全等匹配
+                for i, site in enumerate(self.sites):
+                    if site.get("label") == s:
+                        idx = i
+                        break
+        if idx is None:
+            raise ValueError(f"无法解析 slot 标识: {slot!r}")
+        if idx < 0 or idx >= len(self.sites):
+            raise ValueError(
+                f"slot {slot!r} 超出范围 [1, {len(self.sites)}] (解析为 idx={idx})"
+            )
+        return self._get_site_location(idx)
+
     def _get_site_resource(self, idx: int) -> Optional[Resource]:
         site_loc = self._get_site_location(idx)
         for child in self.children:
@@ -444,7 +478,7 @@ class PRCXI9300Trash(Trash):
 
         if name != "trash":
             print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
-        super().__init__(name, size_x, size_y, size_z, **kwargs)
+        super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
         self._unilabos_state = {}
         # 初始化时注入 UUID
         if material_info:
@@ -533,12 +567,16 @@ class PRCXI9300TubeRack(TubeRack):
 
         # 根据情况传递不同的参数
         if items_to_pass is not None:
-            super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordered_items=items_to_pass, category=category, model=model, **kwargs
+            )
         elif ordering_param is not None:
             # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
-            super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+            )
         else:
-            super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
+            super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
 
         self._unilabos_state = {}
         if material_info:
@@ -716,6 +754,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             adapter_hole_size_x=adapter_hole_size_x,
             adapter_hole_size_y=adapter_hole_size_y,
             adapter_hole_size_z=adapter_hole_size_z,
+            category=category,
             model=model,
             **kwargs,
         )
@@ -803,6 +842,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         self.xy_coupling = xy_coupling
         self._slot_prcxi_positions: Dict[int, Tuple[float, float]] = {}
         self.calibration_labware_type = calibration_labware_type
+        self.max_z_pipetting = 185
+        self.max_z_claw = 170
 
         if calibration_points is not None:
             self.calibrate_from_points(calibration_points, labware_type=self.calibration_labware_type)
@@ -839,12 +880,65 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         )
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
         self._first_transfer_done = False
+        # backend 在做槽位反查时若拿不到 deck，需要回退到 handler.deck，这里建立反向引用
+        self._unilabos_backend._handler = self
 
     @staticmethod
     def _get_slot_number(resource) -> Optional[int]:
         """从 resource 的 unilabos_extra["update_resource_site"]（如 "T13"）或位置反算槽位号。"""
         return _get_slot_number(resource)
 
+    def _top_level_consumable(self, resource):
+        """从任意 PLR 资源沿 parent 向上找"放在 deck 上的那一层耗材"。"""
+        if resource is None:
+            return None
+        cur = resource
+        while cur is not None:
+            parent = getattr(cur, "parent", None)
+            if isinstance(parent, PRCXI9300Deck):
+                return cur
+            if parent is None:
+                # 已到顶；若 cur 本身就是 deck，没有"耗材"层
+                if isinstance(cur, PRCXI9300Deck):
+                    return None
+                return cur
+            cur = parent
+        return None
+
+    def _attach_resources_to_deck_if_needed(self, items: Sequence[Resource]) -> None:
+        """把通过 _resolve_to_plr_resources 拿回的"游离"耗材自动挂到 self.deck。
+
+        - 已经在 PRCXI9300Deck 上（含 name 同名）的跳过；
+        - 优先按 ``unilabos_extra.update_resource_site`` 的 Tn 解析槽位；
+        - 否则交给 ``Deck.assign_child_resource`` 找空槽。
+        - 任意失败仅打印告警，不中断主流程（backend 仍可走名字兜底）。
+        """
+        deck = getattr(self, "deck", None)
+        if not isinstance(deck, PRCXI9300Deck):
+            return
+        existing_names = {getattr(c, "name", None) for c in deck.children}
+        for item in items:
+            top = self._top_level_consumable(item)
+            if top is None or not isinstance(top, Resource):
+                continue
+            if isinstance(getattr(top, "parent", None), PRCXI9300Deck):
+                continue
+            top_name = getattr(top, "name", None)
+            if top_name in existing_names:
+                continue
+            spot_idx: Optional[int] = None
+            extra = getattr(top, "unilabos_extra", {}) or {}
+            site = str(extra.get("update_resource_site", ""))
+            if site:
+                digits = "".join(c for c in site if c.isdigit())
+                if digits:
+                    spot_idx = int(digits) - 1
+            try:
+                deck.assign_child_resource(top, spot=spot_idx, reassign=False)
+                existing_names.add(top_name)
+            except Exception as e:
+                print(f"[PRCXI] 自动挂载到 deck 失败: name={top_name}, site={site or '?'}, err={e}")
+
     def _match_and_create_matrix(self):
         """首次 transfer_liquid 时，根据 deck 上的 resource 自动匹配耗材并创建 WorkTabletMatrix。"""
         backend = self._unilabos_backend
@@ -962,7 +1056,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 slot_pos = self._slot_prcxi_positions[number]
                 pos.x = slot_pos[0] - child.get_size_x() / 2 + self.left_2_claw.x
                 pos.y = slot_pos[1] - child.get_size_y() / 2 + self.left_2_claw.y
-                claw_positions.append({"Number": number, "XPos": pos.x, "YPos": pos.y, "ZPos": pos.z})
+                claw_positions.append({"Number": number, "XPos": pos.x, "YPos": pos.y, "ZPos": max(min(pos.z, self.max_z_claw),0)})
 
                 if child.children:
                     pip_pos = self.plr_pos_to_prcxi(child.children[0])
@@ -978,13 +1072,13 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                     "Number": number,
                     "XPos": pip_pos.x,
                     "YPos": pip_pos.y,
-                    "ZPos": pip_pos.z, 
+                    "ZPos": max(min(pip_pos.z, self.max_z_pipetting),0), 
                     "X_Left": half_x,
                     "X_Right": half_x,
                     "ZAgainstTheWall": pip_pos.z - z_wall,
                     "X2Pos": pip_pos.x + self.right_2_left.x,
                     "Y2Pos": pip_pos.y + self.right_2_left.y,
-                    "Z2Pos": pip_pos.z + self.right_2_left.z,
+                    "Z2Pos": max(min((pip_pos.z + self.right_2_left.z), self.max_z_pipetting),0),
                     "X2_Left": half_x,
                     "X2_Right": half_x,
                     "ZAgainstTheWall2": pip_pos.z - z_wall,
@@ -1196,6 +1290,27 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             none_keys=none_keys,
         )
 
+    @staticmethod
+    def _tip_rack_is_10ul_range(rack: TipRack) -> bool:
+        """判断 tip 盒是否为 10µL 量程（对应右头）；优先用孔位上 prototype tip 的 maximal_volume。"""
+        children = getattr(rack, "children", None) or []
+        if children:
+            spot = children[0]
+            tr = getattr(spot, "tracker", None)
+            tip = None
+            if tr is not None:
+                tip = getattr(tr, "_tip", None) or getattr(tr, "tip", None)
+            if tip is None:
+                tip = getattr(spot, "tip", None)
+            mv = getattr(tip, "maximal_volume", None) if tip is not None else None
+            if mv is not None:
+                try:
+                    return float(mv) <= 10.0
+                except (TypeError, ValueError):
+                    pass
+        ident = f"{getattr(rack, 'model', '') or ''} {type(rack).__name__}".lower()
+        return "10ul" in ident
+
     async def transfer_liquid(
         self,
         sources: Sequence[Container],
@@ -1220,6 +1335,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         mix_rate: Optional[int] = None,
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
+        pre_aspirate_from_target: Optional[float] = None,
         none_keys: List[str] = [],
     ) -> TransferLiquidReturn:
         if not self._first_transfer_done:
@@ -1230,19 +1346,22 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
         _asp_list = asp_vols if isinstance(asp_vols, list) else [asp_vols]
         _dis_list = dis_vols if isinstance(dis_vols, list) else [dis_vols]
-        if all(v <= 10.0 for v in _asp_list) and all(v <= 10.0 for v in _dis_list):
-            use_channels = [1]
-            mix_vol = max(min(mix_vol,10),0) if mix_vol is not None else None
         sources = await self._resolve_to_plr_resources(sources)
         targets = await self._resolve_to_plr_resources(targets)
         tip_racks = list(await self._resolve_to_plr_resources(tip_racks))
-        change_slots = []
+        # 远端解析回来的 PLR 实例可能未挂到 self.deck，主动绑定一次，避免 backend 取 plate.parent==None
-        change_slots.append(sources[0].parent)
+        self._attach_resources_to_deck_if_needed(list(sources) + list(targets) + list(tip_racks))
-        change_slots.append(targets[0].parent)
         if isinstance(tip_racks[0], TipRack):
             tip_rack = tip_racks[0]
         else:
             tip_rack = tip_racks[0].parent
+        small_vols = all(v <= 10.0 for v in _asp_list) and all(v <= 10.0 for v in _dis_list)
+        if small_vols and self._tip_rack_is_10ul_range(tip_rack):
+            use_channels = [1]
+            mix_vol = max(min(mix_vol, 10), 0) if mix_vol is not None else None
+        change_slots = []
+        change_slots.append(sources[0].parent)
+        change_slots.append(targets[0].parent)
 
         change_slots.append(tip_rack)
         
@@ -1298,6 +1417,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             mix_rate=mix_rate,
             mix_liquid_height=mix_liquid_height,
             delays=delays,
+            pre_aspirate_from_target=pre_aspirate_from_target,
             none_keys=none_keys,
         )
         if self.step_mode:
@@ -1453,6 +1573,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     _num_channels = 8  # 默认通道数为 8
     _is_reset_ok = False
     _ros_node: BaseROS2DeviceNode
+    _handler: Optional["PRCXI9300Handler"] = None  # 由 PRCXI9300Handler.__init__ 注入
 
     @property
     def is_reset_ok(self) -> bool:
@@ -1486,13 +1607,52 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.debug = debug
         self.axis = "Left"
 
-    @staticmethod
+    def _resolve_deck(self, plate, deck=None) -> Optional["PRCXI9300Deck"]:
-    def _deck_plate_slot_no(plate, deck) -> int:
+        """定位 plate 所属的 PRCXI9300Deck：按 deck 入参 → plate 的祖先链 → handler.deck 顺序回退。"""
-        """台面板位槽号（1–16）：与 PRCXI9300Handler._get_slot_number 一致；无法解析时退回 deck 子项顺序 +1。"""
+        if isinstance(deck, PRCXI9300Deck):
+            return deck
+        cur = plate
+        while cur is not None:
+            if isinstance(cur, PRCXI9300Deck):
+                return cur
+            cur = getattr(cur, "parent", None)
+        if self._handler is not None:
+            handler_deck = getattr(self._handler, "deck", None)
+            if isinstance(handler_deck, PRCXI9300Deck):
+                return handler_deck
+        return None
+
+    def _deck_plate_slot_no(self, plate, deck=None) -> int:
+        """台面板位槽号（1–16）：优先 _get_slot_number；否则沿父链/handler.deck 找到 deck 后取序号+1。"""
         sn = PRCXI9300Handler._get_slot_number(plate)
         if sn is not None:
             return sn
-        return deck.children.index(plate) + 1
+        actual_deck = self._resolve_deck(plate, deck)
+        if actual_deck is None:
+            raise RuntimeError(
+                f"无法定位 {getattr(plate, 'name', '?')} 所在的 PRCXI9300Deck："
+                "请确认 tip_rack/plate 已挂到 self.deck，或在 unilabos_extra 中提供 update_resource_site=Tn。"
+            )
+        if plate in actual_deck.children:
+            index = actual_deck.children.index(plate)
+            plate_new = actual_deck.children[index]
+            sn = PRCXI9300Handler._get_slot_number(plate_new)
+            if sn is not None:
+                return sn
+            else:
+                raise RuntimeError(
+                    f"无法定位 {getattr(plate_new, 'name', '?')} 所在的 PRCXI9300Deck："
+                    f"x: {plate_new.location}"
+                )
+        # 名字兜底（远端解析回来的实例与 deck 上的不是同一对象）
+        plate_name = getattr(plate, "name", None)
+        if plate_name is not None:
+            for i, c in enumerate(actual_deck.children):
+                if getattr(c, "name", None) == plate_name:
+                    return i + 1
+        raise RuntimeError(
+            f"{getattr(plate, 'name', '?')} 不在 deck.children 中且无可解析的槽位号"
+        )
 
     @staticmethod
     def _resource_num_items_y(resource) -> int:
@@ -1893,7 +2053,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         step = self.api_client.Imbibing(
             axis=axis,
-            dosage=int(volumes[0]),
+            dosage=float(volumes[0]),
             plate_no=PlateNo,
             is_whole_plate=False,
             hole_row=hole_row,
@@ -1955,7 +2115,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
         assist_fun1 = ""
         if ops[0].blow_out_air_volume is not None:
-            assist_fun1 = f"吹样({float(min(max(ops[0].blow_out_air_volume,0),10))}ul)"
+            assist_fun1 = f"吹样({float(min(max(ops[0].blow_out_air_volume,5),10))}ul)"
+        else :
+            assist_fun1 = f"吹样({5.0}ul)"
 
         step = self.api_client.Tapping(
             axis=axis,

unilabos/devices/ros_dev/moveit_interface.py

@@ -2,6 +2,7 @@ import json
 import time
 from copy import deepcopy
 from pathlib import Path
+from typing import Optional, Sequence
 
 from moveit_msgs.msg import JointConstraint, Constraints
 from rclpy.action import ActionClient
@@ -171,173 +172,160 @@ class MoveitInterface:
 
         return True
 
-    def pick_and_place(self, command: str):
+    def pick_and_place(
+        self,
+        option: str,
+        move_group: str,
+        status: str,
+        resource: Optional[str] = None,
+        x_distance: Optional[float] = None,
+        y_distance: Optional[float] = None,
+        lift_height: Optional[float] = None,
+        retry: Optional[int] = None,
+        speed: Optional[float] = None,
+        target: Optional[str] = None,
+        constraints: Optional[Sequence[float]] = None,
+    ) -> None:
         """
-        Using MoveIt to make the robotic arm pick or place materials to a target point.
+        使用 MoveIt 完成抓取/放置等序列（pick/place/side_pick/side_place）。
 
-        Args:
+        必选：option, move_group, status。
-            command: A JSON-formatted string that includes option, target, speed, lift_height, mt_height
+        可选：resource, x_distance, y_distance, lift_height, retry, speed, target, constraints。
-
+        无返回值；失败时提前 return 或打印异常。
-                    *option (string)    : Action type: pick/place/side_pick/side_place
-                    *move_group (string): The move group moveit will plan
-                    *status(string)     : Target pose
-                    resource(string)    : The target resource
-                    x_distance (float)  : The distance to the target in x direction(meters)
-                    y_distance (float)  : The distance to the target in y direction(meters)
-                    lift_height (float) : The height at which the material should be lifted(meters)
-                    retry (float)       : Retry times when moveit plan fails
-                    speed (float)       : The speed of the movement, speed > 0
-        Returns:
-            None
         """
-        result = SendCmd.Result()
-
         try:
-            cmd_str = str(command).replace("'", '"')
+            if option not in self.move_option:
-            cmd_dict = json.loads(cmd_str)
+                raise ValueError(f"Invalid option: {option}")
 
-            if cmd_dict["option"] in self.move_option:
+            option_index = self.move_option.index(option)
-                option_index = self.move_option.index(cmd_dict["option"])
+            place_flag = option_index % 2
-                place_flag = option_index % 2
 
-                config = {}
+            config: dict = {"move_group": move_group}
-                function_list = []
+            if speed is not None:
+                config["speed"] = speed
+            if retry is not None:
+                config["retry"] = retry
 
-                status = cmd_dict["status"]
+            function_list = []
-                joint_positions_ = self.joint_poses[cmd_dict["move_group"]][status]
+            joint_positions_ = self.joint_poses[move_group][status]
 
-                config.update({k: cmd_dict[k] for k in ["speed", "retry", "move_group"] if k in cmd_dict})
+            # 夹取 / 放置：绑定 resource 与 parent
+            if not place_flag:
+                if target is not None:
+                    function_list.append(lambda r=resource, t=target: self.resource_manager(r, t))
+                else:
+                    ee = self.moveit2[move_group].end_effector_name
+                    function_list.append(lambda r=resource: self.resource_manager(r, ee))
+            else:
+                function_list.append(lambda r=resource: self.resource_manager(r, "world"))
 
-                # 夹取
+            joint_constraint_msgs: list = []
-                if not place_flag:
+            if constraints is not None:
-                    if "target" in cmd_dict.keys():
+                for i, c in enumerate(constraints):
-                        function_list.append(lambda: self.resource_manager(cmd_dict["resource"], cmd_dict["target"]))
+                    v = float(c)
-                    else:
+                    if v > 0:
-                        function_list.append(
+                        joint_constraint_msgs.append(
-                            lambda: self.resource_manager(
+                            JointConstraint(
-                                cmd_dict["resource"], self.moveit2[cmd_dict["move_group"]].end_effector_name
+                                joint_name=self.moveit2[move_group].joint_names[i],
+                                position=joint_positions_[i],
+                                tolerance_above=v,
+                                tolerance_below=v,
+                                weight=1.0,
                             )
                         )
-                else:
-                    function_list.append(lambda: self.resource_manager(cmd_dict["resource"], "world"))
 
-                constraints = []
+            if lift_height is not None:
-                if "constraints" in cmd_dict.keys():
+                retval = None
+                attempts = config.get("retry", 10)
+                while retval is None and attempts > 0:
+                    retval = self.moveit2[move_group].compute_fk(joint_positions_)
+                    time.sleep(0.1)
+                    attempts -= 1
+                if retval is None:
+                    raise ValueError("Failed to compute forward kinematics")
+                pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
+                quaternion = [
+                    retval.pose.orientation.x,
+                    retval.pose.orientation.y,
+                    retval.pose.orientation.z,
+                    retval.pose.orientation.w,
+                ]
 
-                    for i in range(len(cmd_dict["constraints"])):
+                function_list = [
-                        v = float(cmd_dict["constraints"][i])
+                    lambda: self.moveit_task(
-                        if v > 0:
+                        position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
-                            constraints.append(
+                        quaternion=quaternion,
-                                JointConstraint(
+                        **config,
-                                    joint_name=self.moveit2[cmd_dict["move_group"]].joint_names[i],
+                        cartesian=self.cartesian_flag,
-                                    position=joint_positions_[i],
+                    )
-                                    tolerance_above=v,
+                ] + function_list
-                                    tolerance_below=v,
-                                    weight=1.0,
-                                )
-                            )
 
-                if "lift_height" in cmd_dict.keys():
+                pose[2] += float(lift_height)
-                    retval = None
+                function_list.append(
-                    retry = config.get("retry", 10)
+                    lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
-                    while retval is None and retry > 0:
+                        position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
-                        retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_)
+                    )
-                        time.sleep(0.1)
+                )
-                        retry -= 1
+                end_pose = list(pose)
-                    if retval is None:
+
-                        result.success = False
+                if x_distance is not None or y_distance is not None:
-                        return result
+                    if x_distance is not None:
-                    pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
+                        deep_pose = deepcopy(pose)
-                    quaternion = [
+                        deep_pose[0] += float(x_distance)
-                        retval.pose.orientation.x,
+                    elif y_distance is not None:
-                        retval.pose.orientation.y,
+                        deep_pose = deepcopy(pose)
-                        retval.pose.orientation.z,
+                        deep_pose[1] += float(y_distance)
-                        retval.pose.orientation.w,
-                    ]
 
                     function_list = [
-                        lambda: self.moveit_task(
+                        lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
-                            position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
+                            position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
-                            quaternion=quaternion,
-                            **config,
-                            cartesian=self.cartesian_flag,
                         )
                     ] + function_list
-
-                    pose[2] += float(cmd_dict["lift_height"])
                     function_list.append(
-                        lambda: self.moveit_task(
+                        lambda dp=deep_pose.copy(), q=quaternion, cfg=config: self.moveit_task(
-                            position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
+                            position=dp, quaternion=q, **cfg, cartesian=self.cartesian_flag
                         )
                     )
-                    end_pose = pose
+                    end_pose = list(deep_pose)
 
-                    if "x_distance" in cmd_dict.keys() or "y_distance" in cmd_dict.keys():
+                retval_ik = None
-                        if "x_distance" in cmd_dict.keys():
+                attempts_ik = config.get("retry", 10)
-                            deep_pose = deepcopy(pose)
+                while retval_ik is None and attempts_ik > 0:
-                            deep_pose[0] += float(cmd_dict["x_distance"])
+                    retval_ik = self.moveit2[move_group].compute_ik(
-                        elif "y_distance" in cmd_dict.keys():
+                        position=end_pose,
-                            deep_pose = deepcopy(pose)
+                        quat_xyzw=quaternion,
-                            deep_pose[1] += float(cmd_dict["y_distance"])
+                        constraints=Constraints(joint_constraints=joint_constraint_msgs),
+                    )
+                    time.sleep(0.1)
+                    attempts_ik -= 1
+                if retval_ik is None:
+                    raise ValueError("Failed to compute inverse kinematics")
+                position_ = [
+                    retval_ik.position[retval_ik.name.index(i)] for i in self.moveit2[move_group].joint_names
+                ]
+                jn = self.moveit2[move_group].joint_names
+                function_list = [
+                    lambda pos=position_, names=jn, cfg=config: self.moveit_joint_task(
+                        joint_positions=pos, joint_names=names, **cfg
+                    )
+                ] + function_list
+            else:
+                function_list = [lambda cfg=config, jp=joint_positions_: self.moveit_joint_task(**cfg, joint_positions=jp)] + function_list
 
-                        function_list = [
+            for i in range(len(function_list)):
-                            lambda: self.moveit_task(
+                if i == 0:
-                                position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
+                    self.cartesian_flag = False
-                            )
-                        ] + function_list
-                        function_list.append(
-                            lambda: self.moveit_task(
-                                position=deep_pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
-                            )
-                        )
-                        end_pose = deep_pose
-
-                    retval_ik = None
-                    retry = config.get("retry", 10)
-                    while retval_ik is None and retry > 0:
-                        retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
-                            position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
-                        )
-                        time.sleep(0.1)
-                        retry -= 1
-                    if retval_ik is None:
-                        result.success = False
-                        return result
-                    position_ = [
-                        retval_ik.position[retval_ik.name.index(i)]
-                        for i in self.moveit2[cmd_dict["move_group"]].joint_names
-                    ]
-                    function_list = [
-                        lambda: self.moveit_joint_task(
-                            joint_positions=position_,
-                            joint_names=self.moveit2[cmd_dict["move_group"]].joint_names,
-                            **config,
-                        )
-                    ] + function_list
                 else:
-                    function_list = [
+                    self.cartesian_flag = True
-                        lambda: self.moveit_joint_task(**config, joint_positions=joint_positions_)
-                    ] + function_list
 
-                for i in range(len(function_list)):
+                re = function_list[i]()
-                    if i == 0:
+                if not re:
-                        self.cartesian_flag = False
+                    print(i, re)
-                    else:
+                    raise ValueError(f"Failed to execute moveit task: {i}")
-                        self.cartesian_flag = True
-
-                    re = function_list[i]()
-                    if not re:
-                        print(i, re)
-                        result.success = False
-                        return result
-                result.success = True
 
         except Exception as e:
-            print(e)
             self.cartesian_flag = False
-            result.success = False
+            raise e
-
-        return result
 
     def set_status(self, command: str):
         """

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -2,6 +2,8 @@ import time
 import logging
 from typing import Union, Dict, Optional
 
+from unilabos.registry.decorators import topic_config
+
 
 class VirtualMultiwayValve:
     """
@@ -41,13 +43,11 @@ class VirtualMultiwayValve:
     def target_position(self) -> int:
         return self._target_position
 
-    def get_current_position(self) -> int:
+    @property
-        """获取当前阀门位置 📍"""
+    @topic_config()
-        return self._current_position
+    def current_port(self) -> str:
-
+        """当前连接的端口名称 🔌"""
-    def get_current_port(self) -> str:
+        return self.port
-        """获取当前连接的端口名称 🔌"""
-        return self._current_position
 
     def set_position(self, command: Union[int, str]):
         """
@@ -169,12 +169,14 @@ class VirtualMultiwayValve:
         self._status = "Idle"
         self._valve_state = "Closed"
         
-        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
+        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
         self.logger.info(close_msg)
         return close_msg
 
-    def get_valve_position(self) -> int:
+    @property
-        """获取阀门位置 - 兼容性方法 📍"""
+    @topic_config()
+    def valve_position(self) -> int:
+        """阀门位置 📍"""
         return self._current_position
 
     def set_valve_position(self, command: Union[int, str]):
@@ -229,19 +231,16 @@ class VirtualMultiwayValve:
             self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
             return self.set_to_pump_position()
 
-    def get_flow_path(self) -> str:
+    @property
-        """获取当前流路路径描述 🌊"""
+    @topic_config()
-        current_port = self.get_current_port()
+    def flow_path(self) -> str:
+        """当前流路路径描述 🌊"""
         if self._current_position == 0:
-            flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
+            return f"🚰 转移泵已连接 (位置 {self._current_position})"
-        else:
+        return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
-            flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
-        
-        # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
-        return flow_path
 
     def __str__(self):
-        current_port = self.get_current_port()
+        current_port = self.current_port
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
@@ -253,7 +252,7 @@ if __name__ == "__main__":
     
     print("🔄 === 虚拟九通阀门测试 === ✨")
     print(f"🏠 初始状态: {valve}")
-    print(f"🌊 当前流路: {valve.get_flow_path()}")
+    print(f"🌊 当前流路: {valve.flow_path}")
     
     # 切换到试剂瓶1（1号位）
     print(f"\n🔌 切换到1号位: {valve.set_position(1)}")

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,6 +3,7 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class VirtualStirrer:
@@ -314,9 +315,11 @@ class VirtualStirrer:
     def min_speed(self) -> float:
         return self._min_speed
     
-    def get_device_info(self) -> Dict[str, Any]:
+    @property
-        """获取设备状态信息 📊"""
+    @topic_config()
-        info = {
+    def device_info(self) -> Dict[str, Any]:
+        """设备状态快照信息 📊"""
+        return {
             "device_id": self.device_id,
             "status": self.status,
             "operation_mode": self.operation_mode,
@@ -325,12 +328,9 @@ class VirtualStirrer:
             "is_stirring": self.is_stirring,
             "remaining_time": self.remaining_time,
             "max_speed": self._max_speed,
-            "min_speed": self._min_speed
+            "min_speed": self._min_speed,
         }
 
-        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
-        return info
-    
     def __str__(self):
         status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
         return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,7 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -385,8 +386,10 @@ class VirtualTransferPump:
         """获取当前体积"""
         return self._current_volume
 
-    def get_remaining_capacity(self) -> float:
+    @property
-        """获取剩余容量"""
+    @topic_config()
+    def remaining_capacity(self) -> float:
+        """剩余容量 (ml)"""
         return self.max_volume - self._current_volume
 
     def is_empty(self) -> bool:

unilabos/devices/virtual/workbench.py

@@ -14,19 +14,30 @@ Virtual Workbench Device - 模拟工作台设备
 
 import logging
 import time
-from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
+from typing import Any, Dict, List, Optional, cast
 
 from typing_extensions import TypedDict
 
 from unilabos.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
+    ActionInputHandle,
+    ActionOutputHandle,
+    DataSource,
+    NodeType,
+    action,
+    device,
+    not_action,
+    topic_config,
+)
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
+from unilabos.resources.resource_tracker import (
+    SampleUUIDsType,
+    LabSample,
+    ResourceTreeSet,
 )
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
-
 
 # ============ TypedDict 返回类型定义 ============
 
@@ -111,6 +122,7 @@ class HeatingStation:
 
 @device(
     id="virtual_workbench",
+    display_name="虚拟工作台",
     category=["virtual_device"],
     description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
 )
@@ -136,7 +148,19 @@ class VirtualWorkbench:
     HEATING_TIME: float = 60.0  # 加热时间(秒)
     NUM_HEATING_STATIONS: int = 3  # 加热台数量
 
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+    def __init__(
+        self,
+        device_id: Optional[str] = None,
+        config: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+        """
+        初始化虚拟工作台。
+
+        Args:
+            device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
+            config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
+        """
         # 处理可能的不同调用方式
         if device_id is None and "id" in kwargs:
             device_id = kwargs.pop("id")
@@ -150,9 +174,13 @@ class VirtualWorkbench:
         self.data: Dict[str, Any] = {}
 
         # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
+        self.ARM_OPERATION_TIME = float(
+            self.config.get("arm_operation_time", self.ARM_OPERATION_TIME)
+        )
         self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
+        self.NUM_HEATING_STATIONS = int(
+            self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
+        )
 
         # 机械臂状态和锁
         self._arm_lock = Lock()
@@ -161,7 +189,8 @@ class VirtualWorkbench:
 
         # 加热台状态
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i)
+            for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
         self._stations_lock = RLock()
 
@@ -290,20 +319,292 @@ class VirtualWorkbench:
         self._update_data_status(f"机械臂已释放 (完成: {task})")
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
+    @action(
+        always_free=True,
+        node_type=NodeType.MANUAL_CONFIRM,
+        placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
+        goal_default={"timeout_seconds": 3600, "assignee_user_ids": []},
+        feedback_interval=300,
+        handles=[
+            ActionInputHandle(
+                key="target_device",
+                data_type="device_id",
+                label="目标设备",
+                data_key="target_device",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.HANDLE,
+            ),
+            # transfer使用
+            ActionOutputHandle(
+                key="target_device",
+                data_type="device_id",
+                label="目标设备",
+                data_key="target_device",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource.@flatten",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource.@flatten",
+                data_source=DataSource.EXECUTOR,
+            ),
+            # test使用
+            ActionOutputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.EXECUTOR,
+            ),
+        ],
+    )
+    def manual_confirm(
+        self,
+        resource: List[ResourceSlot],
+        target_device: DeviceSlot,
+        mount_resource: List[ResourceSlot],
+        collector_mass: List[float],
+        active_material: List[float],
+        capacity: List[float],
+        battery_system: List[str],
+        timeout_seconds: int,
+        assignee_user_ids: list[str],
+        **kwargs,
+    ) -> dict:
+        """
+        人工确认资源转移和扣电测试参数。
+
+        Args:
+            resource[待转移资源]: 需要人工确认的资源列表。
+            target_device[目标设备]: 资源要转移到的目标设备 ID。
+            mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
+            collector_mass[极流体质量]: 每个样品对应的极流体质量。
+            active_material[活性物质含量]: 每个样品对应的活性物质含量。
+            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
+            battery_system[电池体系]: 每个样品对应的电池体系名称。
+            timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
+            assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
+
+        Note:
+            修改的结果无效，是只读的。
+        """
+        resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
+        mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
+        kwargs.update(locals())
+        kwargs.pop("kwargs")
+        kwargs.pop("self")
+        kwargs["resource"] = resource_tree
+        kwargs["mount_resource"] = mount_resource_tree
+        kwargs.pop("resource_tree")
+        kwargs.pop("mount_resource_tree")
+        return kwargs
+
+    @action(
+        description="转移物料",
+        handles=[
+            ActionInputHandle(
+                key="target_device",
+                data_type="device_id",
+                label="目标设备",
+                data_key="target_device",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+        ],
+    )
+    async def transfer(
+        self,
+        resource: List[ResourceSlot],
+        target_device: DeviceSlot,
+        mount_resource: List[ResourceSlot],
+    ):
+        """
+        转移资源到目标设备。
+
+        Args:
+            resource[待转移资源]: 待转移的资源列表。
+            target_device[目标设备]: 接收资源的目标设备 ID。
+            mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
+        """
+        future = ROS2DeviceNode.run_async_func(
+            self._ros_node.transfer_resource_to_another,
+            True,
+            **{
+                "plr_resources": resource,
+                "target_device_id": target_device,
+                "target_resources": mount_resource,
+                "sites": [None] * len(mount_resource),
+            },
+        )
+        result = await future
+        return result
+
+    @action(
+        description="扣电测试启动",
+        handles=[
+            ActionInputHandle(
+                key="resource",
+                data_type="resource",
+                label="待转移资源",
+                data_key="resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="mount_resource",
+                data_type="resource",
+                label="目标孔位",
+                data_key="mount_resource",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="collector_mass",
+                data_type="collector_mass",
+                label="极流体质量",
+                data_key="collector_mass",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="active_material",
+                data_type="active_material",
+                label="活性物质含量",
+                data_key="active_material",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="capacity",
+                data_type="capacity",
+                label="克容量",
+                data_key="capacity",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="battery_system",
+                data_type="battery_system",
+                label="电池体系",
+                data_key="battery_system",
+                data_source=DataSource.HANDLE,
+            ),
+        ],
+    )
+    async def test(
+        self,
+        resource: List[ResourceSlot],
+        mount_resource: List[ResourceSlot],
+        collector_mass: List[float],
+        active_material: List[float],
+        capacity: List[float],
+        battery_system: list[str],
+    ):
+        """
+        启动扣电测试。
+
+        Args:
+            resource[待测试资源]: 需要进行扣电测试的资源列表。
+            mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
+            collector_mass[极流体质量]: 每个样品对应的极流体质量。
+            active_material[活性物质含量]: 每个样品对应的活性物质含量。
+            capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
+            battery_system[电池体系]: 每个样品对应的电池体系名称。
+        """
+        print(resource)
+        print(mount_resource)
+        print(collector_mass)
+        print(active_material)
+        print(capacity)
+        print(battery_system)
+
     @action(
         auto_prefix=True,
         description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
         handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material",
+            ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),  # noqa: E501
-                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_2", data_type="workbench_material", label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_2", data_type="workbench_material",
+            ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),  # noqa: E501
-                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),  # noqa: E501
-            ActionOutputHandle(key="channel_3", data_type="workbench_material",
+            ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),  # noqa: E501
-                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_4", data_type="workbench_material",
-                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_5", data_type="workbench_material",
-                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
         ],
     )
     def prepare_materials(
@@ -316,6 +617,9 @@ class VirtualWorkbench:
 
         作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
         输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
+
+        Args:
+            count[物料数量]: 要生成的物料数量，默认生成 5 个。
         """
         materials = [i for i in range(1, count + 1)]
 
@@ -336,7 +640,11 @@ class VirtualWorkbench:
                 LabSample(
                     sample_uuid=sample_uuid,
                     oss_path="",
-                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
+                    extra=(
+                        {"material_uuid": content}
+                        if isinstance(content, str)
+                        else (content.serialize() if content else {})
+                    ),
                 )
                 for sample_uuid, content in sample_uuids.items()
             ],
@@ -346,12 +654,27 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
         handles=[
-            ActionInputHandle(key="material_input", data_type="workbench_material",
+            ActionInputHandle(
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+                key="material_input",
-            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
+                data_type="workbench_material",
-                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+                label="物料编号",
-            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
+                data_key="material_number",
-                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+                data_source=DataSource.HANDLE,
+            ),
+            ActionOutputHandle(
+                key="heating_station_output",
+                data_type="workbench_station",
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="material_number_output",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.EXECUTOR,
+            ),
         ],
     )
     def move_to_heating_station(
@@ -363,6 +686,9 @@ class VirtualWorkbench:
         将物料从An位置移动到加热台
 
         多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
+
+        Args:
+            material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
         """
         material_id = f"A{material_number}"
         task_desc = f"移动{material_id}到加热台"
@@ -425,7 +751,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -448,7 +775,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -460,14 +788,34 @@ class VirtualWorkbench:
         always_free=True,
         description="启动指定加热台的加热程序",
         handles=[
-            ActionInputHandle(key="station_id_input", data_type="workbench_station",
+            ActionInputHandle(
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+                key="station_id_input",
-            ActionInputHandle(key="material_number_input", data_type="workbench_material",
+                data_type="workbench_station",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+                label="加热台ID",
-            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
+                data_key="station_id",
-                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
+                data_source=DataSource.HANDLE,
-            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
+            ),
-                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
+            ActionInputHandle(
+                key="material_number_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionOutputHandle(
+                key="heating_done_station",
+                data_type="workbench_station",
+                label="加热完成-加热台ID",
+                data_key="station_id",
+                data_source=DataSource.EXECUTOR,
+            ),
+            ActionOutputHandle(
+                key="heating_done_material",
+                data_type="workbench_material",
+                label="加热完成-物料编号",
+                data_key="material_number",
+                data_source=DataSource.EXECUTOR,
+            ),
         ],
     )
     def start_heating(
@@ -478,6 +826,10 @@ class VirtualWorkbench:
     ) -> StartHeatingResult:
         """
         启动指定加热台的加热程序
+
+        Args:
+            station_id[加热台ID]: 要启动加热的加热台编号。
+            material_number[物料编号]: 当前加热台上的物料编号。
         """
         self.logger.info(f"[加热台{station_id}] 开始加热")
 
@@ -494,7 +846,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -517,7 +870,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -537,7 +891,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -577,7 +932,9 @@ class VirtualWorkbench:
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
             if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
+                self.logger.info(
+                    f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s"
+                )
                 last_countdown_log = time.time()
 
             if elapsed >= self.HEATING_TIME:
@@ -594,7 +951,9 @@ class VirtualWorkbench:
                 self._active_tasks[material_id]["status"] = "heating_completed"
 
         self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
+        self.logger.info(
+            f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
+        )
 
         return {
             "success": True,
@@ -608,7 +967,8 @@ class VirtualWorkbench:
                     oss_path="",
                     extra=(
                         {"material_uuid": content}
-                        if isinstance(content, str) else (content.serialize() if content else {})
+                        if isinstance(content, str)
+                        else (content.serialize() if content else {})
                     ),
                 )
                 for sample_uuid, content in sample_uuids.items()
@@ -619,10 +979,20 @@ class VirtualWorkbench:
         auto_prefix=True,
         description="将物料从加热台移动到输出位置Cn",
         handles=[
-            ActionInputHandle(key="output_station_input", data_type="workbench_station",
+            ActionInputHandle(
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
+                key="output_station_input",
-            ActionInputHandle(key="output_material_input", data_type="workbench_material",
+                data_type="workbench_station",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
+                label="加热台ID",
+                data_key="station_id",
+                data_source=DataSource.HANDLE,
+            ),
+            ActionInputHandle(
+                key="output_material_input",
+                data_type="workbench_material",
+                label="物料编号",
+                data_key="material_number",
+                data_source=DataSource.HANDLE,
+            ),
         ],
     )
     def move_to_output(
@@ -633,6 +1003,10 @@ class VirtualWorkbench:
     ) -> MoveToOutputResult:
         """
         将物料从加热台移动到输出位置Cn
+
+        Args:
+            station_id[加热台ID]: 已完成加热的加热台编号。
+            material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
         """
         output_number = material_number
 
@@ -649,7 +1023,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()
@@ -673,7 +1048,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -693,7 +1069,8 @@ class VirtualWorkbench:
                             oss_path="",
                             extra=(
                                 {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
+                                if isinstance(content, str)
+                                else (content.serialize() if content else {})
                             ),
                         )
                         for sample_uuid, content in sample_uuids.items()
@@ -775,7 +1152,8 @@ class VirtualWorkbench:
                         oss_path="",
                         extra=(
                             {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
+                            if isinstance(content, str)
+                            else (content.serialize() if content else {})
                         ),
                     )
                     for sample_uuid, content in sample_uuids.items()

unilabos/labware_manager/labware_db.json

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

unilabos/registry/ast_registry_scanner.py

@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
 
 MAX_SCAN_DEPTH = 10      # 最大目录递归深度
 MAX_SCAN_FILES = 1000    # 最大扫描文件数量
-_CACHE_VERSION = 1       # 缓存格式版本号，格式变更时递增
+_CACHE_VERSION = 2       # 缓存格式版本号，格式变更时递增
 
 # 合法的装饰器来源模块
 _REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
@@ -258,8 +258,6 @@ def scan_directory(
     }
 
 
-
-
 # ---------------------------------------------------------------------------
 # File-level parsing
 # ---------------------------------------------------------------------------
@@ -361,6 +359,7 @@ def _parse_file(
                     "actions": class_body.get("actions", {}),
                     "status_properties": class_body.get("status_properties", {}),
                     "init_params": class_body.get("init_params", []),
+                    "init_docstring": class_body.get("init_docstring"),
                     "auto_methods": class_body.get("auto_methods", {}),
                     "import_map": import_map,
                 }
@@ -497,7 +496,6 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
     return import_map
 
 
-
 # ---------------------------------------------------------------------------
 # Decorator finding & argument extraction
 # ---------------------------------------------------------------------------
@@ -768,6 +766,7 @@ def _extract_class_body(
         "actions": {},          # method_name -> action_info
         "status_properties": {},  # prop_name -> status_info
         "init_params": [],      # [{"name": ..., "type": ..., "default": ...}, ...]
+        "init_docstring": None,
         "auto_methods": {},     # method_name -> method_info (no @action decorator)
     }
 
@@ -780,6 +779,7 @@ def _extract_class_body(
         # --- __init__ ---
         if method_name == "__init__":
             result["init_params"] = _extract_method_params(item, import_map)
+            result["init_docstring"] = ast.get_docstring(item)
             continue
 
         # --- Skip private/dunder ---
@@ -825,6 +825,7 @@ def _extract_class_body(
             action_args.setdefault("placeholder_keys", {})
             action_args.setdefault("always_free", False)
             action_args.setdefault("is_protocol", False)
+            action_args.setdefault("feedback_interval", 1.0)
             action_args.setdefault("description", "")
             action_args.setdefault("auto_prefix", False)
             action_args.setdefault("parent", False)

unilabos/registry/decorators.py

@@ -343,6 +343,7 @@ def action(
     auto_prefix: bool = False,
     parent: bool = False,
     node_type: Optional["NodeType"] = None,
+    feedback_interval: Optional[float] = None,
 ):
     """
     动作方法装饰器
@@ -378,9 +379,16 @@ def action(
     """
 
     def decorator(func: F) -> F:
-        @wraps(func)
+        import asyncio as _asyncio
-        def wrapper(*args, **kwargs):
+
-            return func(*args, **kwargs)
+        if _asyncio.iscoroutinefunction(func):
+            @wraps(func)
+            async def wrapper(*args, **kwargs):
+                return await func(*args, **kwargs)
+        else:
+            @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
@@ -399,6 +407,8 @@ def action(
             "auto_prefix": auto_prefix,
             "parent": parent,
         }
+        if feedback_interval is not None:
+            meta["feedback_interval"] = feedback_interval
         if node_type is not None:
             meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
         wrapper._action_registry_meta = meta  # type: ignore[attr-defined]

unilabos/registry/devices/Qone_nmr.yaml

@@ -51,14 +51,18 @@ Qone_nmr:
               properties:
                 check_interval:
                   default: 60
+                  description: 检查间隔时间（秒），默认60秒
                   type: string
                 expected_count:
                   default: 1
+                  description: 期望生成的.nmr文件数量，默认1个
                   type: string
                 monitor_dir:
+                  description: 要监督的目录路径，如果未指定则使用self.monitor_directory
                   type: string
                 stability_checks:
                   default: 3
+                  description: 文件大小稳定性检查次数，默认3次
                   type: string
               required: []
               type: object
@@ -85,11 +89,14 @@ Qone_nmr:
             goal:
               properties:
                 output_dir:
+                  description: 输出目录（如果未指定，使用self.output_directory）
                   type: string
                 string_list:
+                  description: 字符串列表
                   type: string
                 txt_encoding:
                   default: utf-8
+                  description: 文件编码
                   type: string
               required:
               - string_list
@@ -151,6 +158,13 @@ Qone_nmr:
               additionalProperties: false
               properties:
                 string:
+                  description: '包含多个字符串的输入数据，支持两种格式：
+
+                    1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
+
+                    2. 换行分隔：如 "A 1 B 2 C 3
+
+                    X 10 Y 20 Z 30"'
                   type: string
               title: StrSingleInput_Goal
               type: object

unilabos/registry/devices/bioyond_cell.yaml

@@ -491,14 +491,17 @@ bioyond_cell:
             goal:
               properties:
                 material_names:
+                  description: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2]
                   items:
                     type: string
                   type: array
                 type_id:
                   default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
+                  description: 物料类型ID
                   type: string
                 warehouse_name:
                   default: 粉末加样头堆栈
+                  description: 目标仓库名（用于取位置信息）
                   type: string
               required: []
               type: object
@@ -527,12 +530,16 @@ bioyond_cell:
             goal:
               properties:
                 location_name_or_id:
+                  description: 具体库位名称（如 A01）或库位 UUID，由用户指定。
                   type: string
                 material_name:
+                  description: 物料名称（会优先匹配配置模板）。
                   type: string
                 type_id:
+                  description: 物料类型 ID（若为空则尝试从配置推断）。
                   type: string
                 warehouse_name:
+                  description: 需要入库的仓库名称；若为空则仅创建不入库。
                   type: string
               required:
               - material_name
@@ -661,15 +668,20 @@ bioyond_cell:
             goal:
               properties:
                 board_type:
+                  description: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
                   type: string
                 bottle_type:
+                  description: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
                   type: string
                 location_code:
+                  description: 库位编号，例如 "A01"
                   type: string
                 name:
+                  description: 物料名称
                   type: string
                 warehouse_name:
                   default: 手动堆栈
+                  description: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
                   type: string
               required:
               - name
@@ -1956,19 +1968,19 @@ bioyond_cell:
               properties:
                 source_wh_id:
                   default: 3a19debc-84b4-0359-e2d4-b3beea49348b
-                  description: 来源仓库ID
+                  description: 来源仓库 Id (默认为3号仓库)
                   type: string
                 source_x:
                   default: 1
-                  description: 来源位置X坐标
+                  description: 来源位置 X 坐标
                   type: integer
                 source_y:
                   default: 1
-                  description: 来源位置Y坐标
+                  description: 来源位置 Y 坐标
                   type: integer
                 source_z:
                   default: 1
-                  description: 来源位置Z坐标
+                  description: 来源位置 Z 坐标
                   type: integer
               required: []
               type: object
@@ -2061,9 +2073,11 @@ bioyond_cell:
             goal:
               properties:
                 order_code:
+                  description: 任务编号
                   type: string
                 timeout:
                   default: 36000
+                  description: 超时时间（秒）
                   type: integer
               required:
               - order_code
@@ -2092,12 +2106,15 @@ bioyond_cell:
             goal:
               properties:
                 order_code:
+                  description: 任务编号
                   type: string
                 poll_interval:
                   default: 0.5
+                  description: 轮询间隔（秒），默认 0.5 秒
                   type: number
                 timeout:
                   default: 36000
+                  description: 超时时间（秒）
                   type: integer
               required:
               - order_code
@@ -2154,10 +2171,15 @@ bioyond_cell:
     config:
       properties:
         bioyond_config:
+          description: '从 JSON 文件加载的 bioyond 配置字典
+
+            包含 api_host, api_key, HTTP_host, HTTP_port 等配置'
           type: object
         deck:
+          description: Deck 配置（可选，会从 JSON 中自动处理）
           type: string
         protocol_type:
+          description: 协议类型（可选）
           type: string
       required: []
       type: object

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -47,8 +47,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 report_request:
+                  description: WorkstationReportRequest 对象，包含任务完成信息
                   type: string
                 used_materials:
+                  description: 物料使用记录列表
                   type: string
               required:
               - report_request
@@ -102,6 +104,7 @@ bioyond_dispensing_station:
             goal:
               properties:
                 material_name:
+                  description: 物料名称
                   type: string
               required:
               - material_name
@@ -611,10 +614,10 @@ bioyond_dispensing_station:
             goal:
               properties:
                 target_device_id:
-                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  description: 目标反应站设备ID(所有转移组使用同一个设备)
                   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
+                  description: '转移任务组列表,每组包含:'
                   type: array
               required:
               - target_device_id
@@ -694,10 +697,13 @@ bioyond_dispensing_station:
     config:
       properties:
         config:
+          description: 配置字典,应包含material_type_mappings等配置
           type: object
         deck:
+          description: Deck对象
           type: string
         protocol_type:
+          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -150,15 +150,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力(N)
+                  description: 电池压制力 (N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁步骤
+                  description: 是否忽略电池清洁
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -166,29 +166,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积(μL)
+                  description: 二次滴液第一次排液体积 (μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
                   type: boolean
                 elec_num:
                   description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装电池数
+                  description: 每瓶电解液组装的电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量(μL)
+                  description: 电解液吸液量 (μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -196,7 +196,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 负极片矩阵点位
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -204,7 +204,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 隔膜矩阵点位
                   type: integer
                 gemopanshu:
                   default: 0
@@ -216,7 +216,7 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 枪头盒矩阵点位
                   type: integer
               required:
               - elec_num
@@ -308,7 +308,13 @@ coincellassemblyworkstation_device:
               properties:
                 material_search_enable:
                   default: false
-                  description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+                  description: '是否启用物料搜寻功能。
+
+                    设备初始化后会弹出物料搜寻确认弹窗，
+
+                    此参数控制自动点击''是''（启用）或''否''（不启用）。
+
+                    默认为False（不启用物料搜寻）。'
                   type: boolean
               required: []
               type: object
@@ -547,15 +553,15 @@ coincellassemblyworkstation_device:
               properties:
                 assembly_pressure:
                   default: 4200
-                  description: 电池压制力(N)
+                  description: 电池压制力 (N)
                   type: integer
                 assembly_type:
                   default: 7
-                  description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
+                  description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
                   type: integer
                 battery_clean_ignore:
                   default: false
-                  description: 是否忽略电池清洁步骤
+                  description: 是否忽略电池清洁
                   type: boolean
                 battery_pressure_mode:
                   default: true
@@ -563,29 +569,29 @@ coincellassemblyworkstation_device:
                   type: boolean
                 dual_drop_first_volume:
                   default: 25
-                  description: 二次滴液第一次排液体积(μL)
+                  description: 二次滴液第一次排液体积 (μL)
                   type: integer
                 dual_drop_mode:
                   default: false
-                  description: 电解液添加模式(false=单次滴液, true=二次滴液)
+                  description: 电解液添加模式 (False=单次滴液, True=二次滴液)
                   type: boolean
                 dual_drop_start_timing:
                   default: false
-                  description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
+                  description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
                   type: boolean
                 dual_drop_suction_timing:
                   default: false
-                  description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
+                  description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
                   type: boolean
                 elec_num:
-                  description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
+                  description: 电解液瓶数
                   type: string
                 elec_use_num:
-                  description: 每瓶电解液组装电池数
+                  description: 每瓶电解液组装的电池数
                   type: string
                 elec_vol:
                   default: 50
-                  description: 电解液吸液量(μL)
+                  description: 电解液吸液量 (μL)
                   type: integer
                 file_path:
                   default: /Users/sml/work
@@ -593,7 +599,7 @@ coincellassemblyworkstation_device:
                   type: string
                 fujipian_juzhendianwei:
                   default: 0
-                  description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 负极片矩阵点位
                   type: integer
                 fujipian_panshu:
                   default: 0
@@ -601,7 +607,7 @@ coincellassemblyworkstation_device:
                   type: integer
                 gemo_juzhendianwei:
                   default: 0
-                  description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 隔膜矩阵点位
                   type: integer
                 gemopanshu:
                   default: 0
@@ -613,7 +619,7 @@ coincellassemblyworkstation_device:
                   type: boolean
                 qiangtou_juzhendianwei:
                   default: 0
-                  description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
+                  description: 枪头盒矩阵点位
                   type: integer
               required:
               - elec_num

unilabos/registry/devices/hotel.yaml

@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
       type: object
   model:
     mesh: thermo_orbitor_rs2_hotel
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -18,6 +18,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 degrees:
+                  description: 角度值
                   type: number
               required:
               - degrees
@@ -44,6 +45,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
               required:
               - axis
@@ -71,6 +73,7 @@ xyz_stepper_controller:
               properties:
                 enable:
                   default: true
+                  description: True为使能，False为失能
                   type: boolean
               required: []
               type: object
@@ -99,9 +102,11 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
                 enable:
                   default: true
+                  description: True为使能，False为失能
                   type: boolean
               required:
               - axis
@@ -152,6 +157,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
               required:
               - axis
@@ -183,16 +189,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度(rpm/s)
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 position:
+                  description: 目标位置(步数)
                   type: integer
                 precision:
                   default: 100
+                  description: 到位精度
                   type: integer
                 speed:
                   default: 5000
+                  description: 运行速度(rpm)
                   type: integer
               required:
               - axis
@@ -225,16 +236,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 degrees:
+                  description: 目标角度（度）
                   type: number
                 precision:
                   default: 100
+                  description: 精度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -267,16 +283,21 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 precision:
                   default: 100
+                  description: 精度
                   type: integer
                 revolutions:
+                  description: 目标圈数
                   type: number
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
               required:
               - axis
@@ -309,15 +330,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 运行速度
                   type: integer
                 x:
+                  description: X轴目标位置
                   type: integer
                 y:
+                  description: Y轴目标位置
                   type: integer
                 z:
+                  description: Z轴目标位置
                   type: integer
               required: []
               type: object
@@ -350,15 +376,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
                 x_deg:
+                  description: X轴目标角度（度）
                   type: number
                 y_deg:
+                  description: Y轴目标角度（度）
                   type: number
                 z_deg:
+                  description: Z轴目标角度（度）
                   type: number
               required: []
               type: object
@@ -391,15 +422,20 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度
                   type: integer
                 speed:
                   default: 5000
+                  description: 移动速度
                   type: integer
                 x_rev:
+                  description: X轴目标圈数
                   type: number
                 y_rev:
+                  description: Y轴目标圈数
                   type: number
                 z_rev:
+                  description: Z轴目标圈数
                   type: number
               required: []
               type: object
@@ -427,6 +463,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 revolutions:
+                  description: 圈数
                   type: number
               required:
               - revolutions
@@ -456,10 +493,13 @@ xyz_stepper_controller:
               properties:
                 acceleration:
                   default: 1000
+                  description: 加速度(rpm/s)
                   type: integer
                 axis:
+                  description: 电机轴
                   type: object
                 speed:
+                  description: 运行速度(rpm)，正值正转，负值反转
                   type: integer
               required:
               - axis
@@ -487,6 +527,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
+                  description: 步数
                   type: integer
               required:
               - steps
@@ -513,6 +554,7 @@ xyz_stepper_controller:
             goal:
               properties:
                 steps:
+                  description: 步数
                   type: integer
               required:
               - steps
@@ -564,9 +606,11 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
+                  description: 电机轴
                   type: object
                 timeout:
                   default: 30.0
+                  description: 超时时间(秒)
                   type: number
               required:
               - axis
@@ -591,11 +635,14 @@ xyz_stepper_controller:
       properties:
         baudrate:
           default: 115200
+          description: 波特率
           type: integer
         port:
+          description: 串口端口名
           type: string
         timeout:
           default: 1.0
+          description: 通信超时时间
           type: number
       required:
       - port

unilabos/registry/devices/liquid_handler.yaml

@@ -510,9 +510,11 @@ liquid_handler:
             goal:
               properties:
                 msg:
+                  description: information to be printed
                   type: string
                 seconds:
                   default: 0
+                  description: seconds to wait
                   type: string
               required: []
               type: object
@@ -2963,15 +2965,22 @@ liquid_handler:
               additionalProperties: false
               properties:
                 channel:
+                  description: int
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
                 dis_to_top:
+                  description: 'float
+
+                    Height in mm to move to relative to the well top.'
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 well:
                   additionalProperties: false
+                  description: 'Well
+
+                    The target well.'
                   properties:
                     category:
                       type: string
@@ -4829,11 +4838,13 @@ liquid_handler:
     config:
       properties:
         backend:
+          description: Backend to use.
           type: object
         channel_num:
           default: 8
           type: integer
         deck:
+          description: Deck to use.
           type: object
         simulator:
           default: false
@@ -4883,14 +4894,17 @@ liquid_handler.biomek:
                 bind_parent_id:
                   type: string
                 liquid_input_slot:
+                  description: 液体输入槽列表
                   items:
                     type: integer
                   type: array
                 liquid_type:
+                  description: 液体类型列表
                   items:
                     type: string
                   type: array
                 liquid_volume:
+                  description: 液体体积列表
                   items:
                     type: integer
                   type: array
@@ -4901,6 +4915,7 @@ liquid_handler.biomek:
                     type: object
                   type: array
                 slot_on_deck:
+                  description: 甲板上的槽位
                   type: integer
               required:
               - resource_tracker
@@ -5036,20 +5051,27 @@ liquid_handler.biomek:
               additionalProperties: false
               properties:
                 none_keys:
+                  description: 需要设置为None的键列表
                   items:
                     type: string
                   type: array
                 protocol_author:
+                  description: 协议作者
                   type: string
                 protocol_date:
+                  description: 协议日期
                   type: string
                 protocol_description:
+                  description: 协议描述
                   type: string
                 protocol_name:
+                  description: 协议名称
                   type: string
                 protocol_type:
+                  description: 协议类型
                   type: string
                 protocol_version:
+                  description: 协议版本
                   type: string
               title: LiquidHandlerProtocolCreation_Goal
               type: object

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -87,7 +87,7 @@ neware_battery_test_system:
               properties:
                 filepath:
                   default: bts_status.json
-                  description: 输出JSON文件路径
+                  description: 输出文件路径
                   type: string
               required: []
               type: object
@@ -146,7 +146,7 @@ neware_battery_test_system:
             goal:
               properties:
                 plate_num:
-                  description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
+                  description: 盘号 (1 或 2)，如果为None则返回所有盘的状态
                   type: integer
               required: []
               type: object
@@ -237,11 +237,11 @@ neware_battery_test_system:
             goal:
               properties:
                 csv_path:
-                  description: 输入CSV文件的绝对路径
+                  description: 输入CSV文件路径
                   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
+                  description: 输出目录，用于存储XML文件和备份，默认当前目录
                   type: string
               required:
               - csv_path
@@ -302,14 +302,14 @@ neware_battery_test_system:
             goal:
               properties:
                 backup_dir:
-                  description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
+                  description: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
                   type: string
                 file_pattern:
                   default: '*'
-                  description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
+                  description: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
                   type: string
                 oss_prefix:
-                  description: OSS对象路径前缀（默认使用self.oss_prefix）
+                  description: OSS 对象前缀，默认使用类初始化时的配置
                   type: string
               required: []
               type: object
@@ -336,19 +336,25 @@ neware_battery_test_system:
     config:
       properties:
         devtype:
+          description: 设备类型标识
           type: string
         ip:
+          description: TCP服务器IP地址
           type: string
         machine_id:
           default: 1
+          description: 机器ID
           type: integer
         oss_prefix:
           default: neware_backup
+          description: OSS对象路径前缀，默认"neware_backup"
           type: string
         oss_upload_enabled:
           default: false
+          description: 是否启用OSS上传功能，默认False
           type: boolean
         port:
+          description: TCP端口
           type: integer
         size_x:
           default: 50
@@ -360,6 +366,7 @@ neware_battery_test_system:
           default: 20
           type: number
         timeout:
+          description: 通信超时时间（秒）
           type: integer
       required: []
       type: object

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -207,8 +207,12 @@ separator.homemade:
             goal:
               properties:
                 condition:
+                  description: The condition to be monitored, either 'delta' or 'time'.
                   type: string
                 value:
+                  description: 'The threshold value for the condition.
+
+                    `delta > 0.05`, `time > 60`'
                   type: string
               required:
               - condition
@@ -305,12 +309,17 @@ separator.homemade:
                 event:
                   type: string
                 settling_time:
+                  description: The duration for which to settle after stirring, in
+                    seconds. Defaults to 10.
                   type: string
                 stir_speed:
+                  description: The speed of stirring, in RPM. Defaults to 300.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 stir_time:
+                  description: The duration for which to stir, in seconds. Defaults
+                    to 10.
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number

unilabos/registry/devices/pump_and_valve.yaml

@@ -456,6 +456,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -481,6 +482,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -687,8 +689,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
             goal:
               properties:
                 max_velocity:
+                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
+                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position
@@ -1003,6 +1007,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1028,6 +1033,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 volume:
+                  description: 'absolute position of the plunger, unit: mL'
                   type: number
               required:
               - volume
@@ -1234,8 +1240,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
             goal:
               properties:
                 max_velocity:
+                  description: 'maximum velocity of the plunger, unit: ml/s'
                   type: number
                 position:
+                  description: 'absolute position of the plunger, unit: ml'
                   type: number
               required:
               - position

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -32,7 +32,7 @@ reaction_station.bioyond:
                   type: integer
                 end_point:
                   default: 0
-                  description: 终点计时点 (Start=开始前, End=结束后)
+                  description: 终点计时点 (Start=0, End=1)
                   type: integer
                 end_step_key:
                   default: ''
@@ -40,11 +40,11 @@ reaction_station.bioyond:
                   type: string
                 start_point:
                   default: 0
-                  description: 起点计时点 (Start=开始前, End=结束后)
+                  description: 起点计时点 (Start=0, End=1)
                   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)
+                  description: 起点步骤Key (可选, 默认为空则自动选择)
                   type: string
               required:
               - duration
@@ -91,6 +91,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
+                  description: 订单参数的JSON字符串
                   type: string
               required:
               - json_str
@@ -117,6 +118,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_ids:
+                  description: 要删除的工作流ID数组
                   items:
                     type: string
                   type: array
@@ -145,6 +147,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 json_str:
+                  description: 'JSON格式的字符串,包含:'
                   type: string
               required:
               - json_str
@@ -197,6 +200,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 web_workflow_json:
+                  description: JSON 格式的网页工作流列表
                   type: string
               required:
               - web_workflow_json
@@ -228,8 +232,10 @@ reaction_station.bioyond:
             goal:
               properties:
                 reactor_id:
+                  description: 反应器编号 (1-5)
                   type: integer
                 temperature:
+                  description: 目标温度 (°C)
                   type: number
               required:
               - reactor_id
@@ -257,6 +263,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 preintake_id:
+                  description: 通量ID
                   type: string
               required:
               - preintake_id
@@ -338,6 +345,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 value:
+                  description: 工作流 ID 列表
                   items:
                     type: string
                   type: array
@@ -365,6 +373,7 @@ reaction_station.bioyond:
             goal:
               properties:
                 workflow_id:
+                  description: 工作流ID
                   type: string
               required:
               - workflow_id
@@ -424,11 +433,11 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称（不能为空）
+                  description: 物料名称(液体种类)
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度(C)
                   type: number
                 time:
                   default: '90'
@@ -436,14 +445,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume:
-                  description: 分液公式(mL)
+                  description: 分液量(μL)
                   type: string
               required:
               - assign_material_name
@@ -525,11 +534,11 @@ reaction_station.bioyond:
               properties:
                 assign_material_name:
                   default: BAPP
-                  description: 物料名称
+                  description: 物料名称(试剂瓶位)
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '0'
@@ -537,15 +546,15 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(int类型, 1=否, 2=是)
                   type: integer
                 volume:
                   default: '350'
-                  description: 分液公式(mL)
+                  description: 分液质量(g)
                   type: string
               required: []
               type: object
@@ -593,26 +602,28 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 solvents:
-                  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'
+                  description: '溶剂信息的字典或JSON字符串(可选),格式如下:
+
+                    {'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C),默认25.00
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '360'
-                  description: 观察时间(分钟),默认360
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是),默认NO
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume:
-                  description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
+                  description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
                   type: string
               required:
               - assign_material_name
@@ -671,33 +682,32 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 extracted_actuals:
-                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
+                  description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
                   type: string
                 feeding_order_data:
-                  description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
+                  description: feeding_order JSON字符串或对象,用于获取m二酐值
-                    {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C),默认25.00
+                  description: 温度(C)
                   type: number
                 time:
                   default: '90'
-                  description: 观察时间(分钟),默认90
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
                   default: '2'
-                  description: 是否滴定(NO=否, YES=是),默认YES
+                  description: 是否滴定(NO=1, YES=2),默认2
                   type: string
                 torque_variation:
                   default: 2
-                  description: 是否观察 (NO=否, YES=是),默认YES
+                  description: 是否观察(NO=1, YES=2)
                   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
+                  description: 分液公式(μL),如果提供则直接使用,否则自动计算
                   type: string
                 x_value:
-                  description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
+                  description: 手工输入的x值,格式如 "1-2-3"
                   type: string
               required:
               - assign_material_name
@@ -738,7 +748,7 @@ reaction_station.bioyond:
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度(C)
                   type: number
                 time:
                   default: '0'
@@ -746,14 +756,14 @@ reaction_station.bioyond:
                   type: string
                 titration_type:
                   default: '1'
-                  description: 是否滴定(NO=否, YES=是)
+                  description: 是否滴定(NO=1, YES=2)
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
                 volume_formula:
-                  description: 分液公式(mL)
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume_formula
@@ -786,7 +796,7 @@ reaction_station.bioyond:
                   description: 任务名称
                   type: string
                 workflow_name:
-                  description: 工作流名称
+                  description: 合并后的工作流名称
                   type: string
               required:
               - workflow_name
@@ -819,15 +829,15 @@ reaction_station.bioyond:
             goal:
               properties:
                 assign_material_name:
-                  description: 物料名称
+                  description: 物料名称(不能为空)
                   type: string
                 cutoff:
                   default: '900000'
-                  description: 粘度上限
+                  description: 粘度上限(需为有效数字字符串,默认 "900000")
                   type: string
                 temperature:
                   default: -10.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C,范围:-50.00 至 100.00)
                   type: number
               required:
               - assign_material_name
@@ -909,11 +919,11 @@ reaction_station.bioyond:
                   description: 物料名称(用于获取试剂瓶位ID)
                   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）
+                  description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
                   type: string
                 temperature:
                   default: 25.0
-                  description: 温度设定(°C)
+                  description: 温度设定(C)
                   type: number
                 time:
                   default: '0'
@@ -921,7 +931,7 @@ reaction_station.bioyond:
                   type: string
                 torque_variation:
                   default: 1
-                  description: 是否观察 (NO=否, YES=是)
+                  description: 是否观察(NO=1, YES=2)
                   type: integer
               required:
               - material_id
@@ -945,10 +955,13 @@ reaction_station.bioyond:
     config:
       properties:
         config:
+          description: 配置字典,应包含workflow_mappings等配置
           type: object
         deck:
+          description: Deck对象
           type: string
         protocol_type:
+          description: 协议类型(由ROS系统传递,此处忽略)
           type: string
       required: []
       type: object

unilabos/registry/devices/robot_arm.yaml

@@ -173,48 +173,64 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
+        feedback: {}
-          status: status
+        goal: {}
-        goal:
-          command: command
         goal_default:
-          command: ''
+          constraints: null
+          lift_height: null
+          move_group: null
+          option: null
+          resource: null
+          retry: null
+          speed: null
+          status: null
+          target: null
+          x_distance: null
+          y_distance: null
         handles: {}
         placeholder_keys: {}
-        result:
+        result: {}
-          return_info: return_info
-          success: success
         schema:
-          description: ''
+          description: pick_and_place 显式参数（UniLabJsonCommand）
           properties:
-            feedback:
+            feedback: {}
-              additionalProperties: false
+            goal:
               properties:
+                constraints:
+                  items:
+                    type: number
+                  type: array
+                lift_height:
+                  type: string
+                move_group:
+                  type: string
+                option:
+                  type: string
+                resource:
+                  type: string
+                retry:
+                  type: string
+                speed:
+                  type: string
                 status:
                   type: string
-              title: SendCmd_Feedback
+                target:
-              type: object
-            goal:
-              additionalProperties: false
-              properties:
-                command:
                   type: string
-              title: SendCmd_Goal
+                x_distance:
-              type: object
-            result:
-              additionalProperties: false
-              properties:
-                return_info:
                   type: string
-                success:
+                y_distance:
-                  type: boolean
+                  type: string
-              title: SendCmd_Result
+              required:
+              - option
+              - move_group
+              - status
               type: object
+            result: {}
           required:
           - goal
-          title: SendCmd
+          title: pick_and_place参数
           type: object
-        type: SendCmd
+        type: UniLabJsonCommand
       set_position:
         feedback:
           status: status
@@ -241,6 +257,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes quaternion, speed,
+                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -284,6 +302,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object
@@ -329,7 +348,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
       type: object
   model:
     mesh: arm_slider
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
     type: device
   version: 1.0.0
 robotic_arm.UR:

unilabos/registry/devices/robot_linear_motion.yaml

@@ -684,48 +684,64 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
+        feedback: {}
-          status: status
+        goal: {}
-        goal:
-          command: command
         goal_default:
-          command: ''
+          constraints: null
+          lift_height: null
+          move_group: null
+          option: null
+          resource: null
+          retry: null
+          speed: null
+          status: null
+          target: null
+          x_distance: null
+          y_distance: null
         handles: {}
         placeholder_keys: {}
-        result:
+        result: {}
-          return_info: return_info
-          success: success
         schema:
-          description: ''
+          description: pick_and_place 显式参数（UniLabJsonCommand）
           properties:
-            feedback:
+            feedback: {}
-              additionalProperties: false
+            goal:
               properties:
+                constraints:
+                  items:
+                    type: number
+                  type: array
+                lift_height:
+                  type: string
+                move_group:
+                  type: string
+                option:
+                  type: string
+                resource:
+                  type: string
+                retry:
+                  type: string
+                speed:
+                  type: string
                 status:
                   type: string
-              title: SendCmd_Feedback
+                target:
-              type: object
-            goal:
-              additionalProperties: false
-              properties:
-                command:
                   type: string
-              title: SendCmd_Goal
+                x_distance:
-              type: object
-            result:
-              additionalProperties: false
-              properties:
-                return_info:
                   type: string
-                success:
+                y_distance:
-                  type: boolean
+                  type: string
-              title: SendCmd_Result
+              required:
+              - option
+              - move_group
+              - status
               type: object
+            result: {}
           required:
           - goal
-          title: SendCmd
+          title: pick_and_place参数
           type: object
-        type: SendCmd
+        type: UniLabJsonCommand
       set_position:
         feedback:
           status: status
@@ -752,6 +768,8 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes quaternion, speed,
+                    position
                   type: string
               title: SendCmd_Goal
               type: object
@@ -795,6 +813,7 @@ linear_motion.toyo_xyz.sim:
               additionalProperties: false
               properties:
                 command:
+                  description: A JSON-formatted string that includes speed
                   type: string
               title: SendCmd_Goal
               type: object

unilabos/registry/devices/virtual_device.yaml

@@ -2179,6 +2179,7 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
+                  description: 端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2225,6 +2226,7 @@ virtual_multiway_valve:
             goal:
               properties:
                 port_number:
+                  description: 目标端口号 (1-8)
                   type: integer
               required:
               - port_number
@@ -2261,6 +2263,7 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -2304,6 +2307,7 @@ virtual_multiway_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: 目标位置 (0-8) 或位置字符串
                   type: string
               title: SendCmd_Goal
               type: object
@@ -3960,6 +3964,14 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
+  - data_key: top_outlet
+    data_source: executor
+    data_type: fluid
+    description: 上相（轻相）液体输出口
+    handler_key: topphaseout
+    io_type: source
+    label: top_phase_out
+    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical
@@ -4207,6 +4219,7 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 string:
+                  description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -4250,6 +4263,7 @@ virtual_solenoid_valve:
               additionalProperties: false
               properties:
                 command:
+                  description: '"OPEN"/"CLOSED" 或其他控制命令'
                   type: string
               title: SendCmd_Goal
               type: object
@@ -4410,16 +4424,20 @@ virtual_solid_dispenser:
                 event:
                   type: string
                 mass:
+                  description: 质量字符串 (如 "2.9 g")
                   type: string
                 mol:
+                  description: 摩尔数字符串 (如 "0.12 mol")
                   type: string
                 purpose:
+                  description: 添加目的
                   type: string
                 rate_spec:
                   type: string
                 ratio:
                   type: string
                 reagent:
+                  description: 试剂名称
                   type: string
                 stir:
                   type: boolean
@@ -4431,6 +4449,7 @@ virtual_solid_dispenser:
                   type: string
                 vessel:
                   additionalProperties: false
+                  description: 目标容器
                   properties:
                     category:
                       type: string
@@ -5560,8 +5579,10 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
+                  description: 拉取速度 (ml/s)
                   type: number
                 volume:
+                  description: 要拉取的体积 (ml)
                   type: number
               required:
               - volume
@@ -5588,8 +5609,10 @@ virtual_transfer_pump:
             goal:
               properties:
                 velocity:
+                  description: 推出速度 (ml/s)
                   type: number
                 volume:
+                  description: 要推出的体积 (ml)
                   type: number
               required:
               - volume
@@ -5685,10 +5708,12 @@ virtual_transfer_pump:
               additionalProperties: false
               properties:
                 max_velocity:
+                  description: 移动速度 (ml/s)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
                 position:
+                  description: 目标位置 (ml)
                   maximum: 1.7976931348623157e+308
                   minimum: -1.7976931348623157e+308
                   type: number
@@ -5837,8 +5862,10 @@ virtual_transfer_pump:
     config:
       properties:
         config:
+          description: 配置字典，包含max_volume, port等参数
           type: object
         device_id:
+          description: 设备ID
           type: string
       required: []
       type: object

unilabos/registry/devices/xrd_d7mate.yaml

@@ -409,11 +409,11 @@ xrd_d7mate:
               properties:
                 end_theta:
                   default: 80.0
-                  description: 结束角度（≥5.5°，且必须大于start_theta）
+                  description: 结束角度（≥5.5°，且必须大于 start_theta）
                   type: number
                 exp_time:
                   default: 0.1
-                  description: 曝光时间（0.1-5.0秒）
+                  description: 曝光时间（0.1-5.0 秒）
                   type: number
                 increment:
                   default: 0.05
@@ -421,7 +421,7 @@ xrd_d7mate:
                   type: number
                 sample_id:
                   default: ''
-                  description: 样品标识符
+                  description: 样品名称
                   type: string
                 start_theta:
                   default: 10.0
@@ -433,7 +433,7 @@ xrd_d7mate:
                   type: string
                 wait_minutes:
                   default: 3.0
-                  description: 允许上样后等待分钟数
+                  description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
                   type: number
               required: []
               title: StartWorkflow_Goal
@@ -492,12 +492,15 @@ xrd_d7mate:
       properties:
         host:
           default: 127.0.0.1
+          description: 设备IP地址
           type: string
         port:
           default: 6001
+          description: 通信端口，默认6001
           type: string
         timeout:
           default: 10.0
+          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/devices/zhida_gcms.yaml

@@ -217,6 +217,7 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
+                  description: Base64编码的CSV数据（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -257,6 +258,7 @@ zhida_gcms:
               additionalProperties: false
               properties:
                 string:
+                  description: CSV文件路径（ROS2参数名）
                   type: string
               title: StrSingleInput_Goal
               type: object
@@ -289,12 +291,15 @@ zhida_gcms:
       properties:
         host:
           default: 192.168.3.184
+          description: 设备IP地址，本地部署时可使用'127.0.0.1'
           type: string
         port:
           default: 5792
+          description: 通信端口，默认5792
           type: string
         timeout:
           default: 10.0
+          description: 超时时间，单位秒
           type: string
       required: []
       type: object

unilabos/registry/registry.py

@@ -238,6 +238,7 @@ class Registry:
                             "class_name": "unilabos_class",
                         },
                         "always_free": True,
+                        "feedback_interval": 300.0,
                     },
                     "test_latency": test_latency_action,
                     "auto-test_resource": test_resource_action,
@@ -270,6 +271,7 @@ class Registry:
         registry_cache.pkl 一个文件中，删除即可完全重置。
         """
         import time as _time
+        from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
         from unilabos.registry.ast_registry_scanner import scan_directory
 
         scan_t0 = _time.perf_counter()
@@ -285,6 +287,10 @@ class Registry:
         # ---- 统一缓存：一个 pkl 包含所有数据 ----
         unified_cache = self._load_config_cache()
         ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
+        if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
+            ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
+            unified_cache["_ast_scan"] = ast_cache
+            unified_cache.pop("_build_results", None)
 
         # 默认：扫描 unilabos 包所在的父目录
         pkg_root = Path(__file__).resolve().parent.parent          # .../unilabos
@@ -560,13 +566,47 @@ class Registry:
 
         return prop_schema
 
+    @staticmethod
+    def _apply_docstring_param_metadata(
+        schema: Dict[str, Any],
+        doc_info: Dict[str, Any],
+        field_to_param: Optional[Dict[str, str]] = None,
+        apply_defaults: bool = False,
+    ) -> None:
+        """Apply parsed docstring display names and descriptions to schema properties."""
+        if not schema or not doc_info:
+            return
+
+        props = schema.get("properties", {})
+        if not isinstance(props, dict):
+            return
+
+        param_descs = doc_info.get("params", {}) or {}
+        param_display_names = doc_info.get("param_display_names", {}) or {}
+        for field_name, prop_schema in props.items():
+            if not isinstance(prop_schema, dict):
+                continue
+            param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
+            if not isinstance(param_name, str):
+                continue
+            param_name = param_name.removesuffix("[]")
+            if param_name in param_display_names:
+                prop_schema["title"] = param_display_names[param_name]
+            elif apply_defaults and not prop_schema.get("title"):
+                prop_schema["title"] = field_name
+
+            if param_name in param_descs:
+                prop_schema["description"] = param_descs[param_name]
+            elif apply_defaults and "description" not in prop_schema:
+                prop_schema["description"] = ""
+
     def _generate_unilab_json_command_schema(
         self, method_args: list, docstring: Optional[str] = None,
         import_map: Optional[Dict[str, str]] = None,
+        apply_doc_defaults: bool = False,
     ) -> Dict[str, Any]:
         """根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
         doc_info = parse_docstring(docstring)
-        param_descs = doc_info.get("params", {})
 
         schema = {
             "type": "object",
@@ -597,12 +637,10 @@ class Registry:
                     param_name, param_type, param_default, import_map=import_map
                 )
 
-            if param_name in param_descs:
-                schema["properties"][param_name]["description"] = param_descs[param_name]
-
             if param_required:
                 schema["required"].append(param_name)
 
+        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
         return schema
 
     def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
@@ -798,6 +836,7 @@ class Registry:
             type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
             params = method_info.get("params", [])
             method_doc = method_info.get("docstring")
+            method_doc_info = parse_docstring(method_doc)
             goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
 
             if action_args is not None:
@@ -827,10 +866,15 @@ class Registry:
 
             # action handles: 从 @action(handles=[...]) 提取并转换为标准格式
             raw_handles = (action_args or {}).get("handles")
-            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
+            handles = (
+                normalize_ast_action_handles(raw_handles)
+                if isinstance(raw_handles, list)
+                else (raw_handles or {})
+            )
 
-            # placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
+            # placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
-            pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
+            pk = detect_placeholder_keys(params)
+            pk.update((action_args or {}).get("placeholder_keys") or {})
 
             # 从方法返回值类型生成 result schema
             result_schema = None
@@ -845,13 +889,20 @@ class Registry:
                 "goal": goal,
                 "feedback": (action_args or {}).get("feedback") or {},
                 "result": (action_args or {}).get("result") or {},
-                "schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
+                "schema": wrap_action_schema(
+                    goal_schema,
+                    action_name,
+                    description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
+                    result_schema=result_schema,
+                ),
                 "goal_default": goal_default,
                 "handles": handles,
                 "placeholder_keys": pk,
             }
             if (action_args or {}).get("always_free") or method_info.get("always_free"):
                 entry["always_free"] = True
+            _fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            entry["feedback_interval"] = _fb_iv
             nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
             if nt:
                 entry["node_type"] = nt
@@ -882,7 +933,11 @@ class Registry:
                 action_name = f"auto-{action_name}"
 
             raw_handles = action_args.get("handles")
-            handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
+            handles = (
+                normalize_ast_action_handles(raw_handles)
+                if isinstance(raw_handles, list)
+                else (raw_handles or {})
+            )
 
             method_params = method_info.get("params", [])
 
@@ -975,20 +1030,34 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
+                "placeholder_keys": {
+                    **detect_placeholder_keys(method_params),
+                    **(action_args.get("placeholder_keys") or {}),
+                },
             }
             if action_args.get("always_free") or method_info.get("always_free"):
                 action_entry["always_free"] = True
+            _fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            action_entry["feedback_interval"] = _fb_iv
             nt = normalize_enum_value(action_args.get("node_type"), NodeType)
             if nt:
                 action_entry["node_type"] = nt
+            goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
+            self._apply_docstring_param_metadata(
+                goal_schema_for_docs,
+                parse_docstring(method_info.get("docstring")),
+                goal,
+                apply_defaults=True,
+            )
             action_value_mappings[action_name] = action_entry
 
         action_value_mappings = dict(sorted(action_value_mappings.items()))
 
         # --- init_param_schema = { config: <init_params>, data: <status_types> } ---
         init_params = ast_meta.get("init_params", [])
-        config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
+        config_schema = self._generate_schema_from_ast_params(
+            init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
+        )
         data_schema = self._generate_status_schema_from_ast(
             ast_meta.get("status_properties", {}), imap
         )
@@ -1036,7 +1105,6 @@ class Registry:
     ) -> Dict[str, Any]:
         """Generate JSON Schema from AST-extracted parameter list."""
         doc_info = parse_docstring(docstring)
-        param_descs = doc_info.get("params", {})
 
         schema: Dict[str, Any] = {
             "type": "object",
@@ -1066,12 +1134,10 @@ class Registry:
                     pname, ptype, pdefault, import_map
                 )
 
-            if pname in param_descs:
-                schema["properties"][pname]["description"] = param_descs[pname]
-
             if prequired:
                 schema["required"].append(pname)
 
+        self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
         return schema
 
     def _generate_status_schema_from_ast(
@@ -1801,7 +1867,7 @@ class Registry:
                         else:
                             action_key = f"auto-{k}"
                         goal_schema = self._generate_unilab_json_command_schema(
-                            v["args"], import_map=enhanced_import_map
+                            v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
                         )
                         ret_type = v.get("return_type", "")
                         result_schema = None
@@ -1810,7 +1876,13 @@ class Registry:
                                 "result", ret_type, None, import_map=enhanced_import_map
                             )
                         old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
-                        new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
+                        doc_info = parse_docstring(v.get("docstring"))
+                        new_schema = wrap_action_schema(
+                            goal_schema,
+                            action_key,
+                            description=doc_info.get("description", ""),
+                            result_schema=result_schema,
+                        )
                         old_schema = old_cfg.get("schema", {})
                         if old_schema:
                             preserve_field_descriptions(new_schema, old_schema)
@@ -1876,6 +1948,12 @@ class Registry:
 
                         merged_pk = dict(old_cfg.get("placeholder_keys", {}))
                         merged_pk.update(detect_placeholder_keys(v["args"]))
+                        goal_schema_for_docs = (
+                            entry_schema.get("properties", {}).get("goal", {})
+                            if isinstance(entry_schema, dict)
+                            else {}
+                        )
+                        self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
 
                         entry = {
                             "type": entry_type,
@@ -1896,7 +1974,8 @@ class Registry:
 
                     device_config["init_param_schema"] = {}
                     init_schema = self._generate_unilab_json_command_schema(
-                        enhanced_info["init_params"], "__init__",
+                        enhanced_info["init_params"],
+                        docstring=enhanced_info.get("init_docstring"),
                         import_map=enhanced_import_map,
                     )
                     device_config["init_param_schema"]["config"] = init_schema
@@ -1943,7 +2022,9 @@ class Registry:
                             action_str_type_mapping[action_type_str] = target_type
                             if target_type is not None:
                                 try:
-                                    action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
+                                    action_config["goal_default"] = ROS2MessageInstance(
+                                        target_type.Goal()
+                                    ).get_python_dict()
                                 except Exception:
                                     action_config["goal_default"] = {}
                                 prev_schema = action_config.get("schema", {})
@@ -2135,6 +2216,7 @@ class Registry:
                                 "unilabos_device_id": {
                                     "type": "string",
                                     "default": "",
+                                    "title": "设备ID",
                                     "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
                                 },
                                 **schema["properties"]["goal"]["properties"],
@@ -2206,7 +2288,14 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
+def build_registry(
+    registry_paths=None,
+    devices_dirs=None,
+    upload_registry=False,
+    check_mode=False,
+    complete_registry=False,
+    external_only=False,
+):
     """
     构建或获取Registry单例实例
     """
@@ -2220,7 +2309,12 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
             if path not in current_paths:
                 lab_registry.registry_paths.append(path)
 
-    lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
+    lab_registry.setup(
+        devices_dirs=devices_dirs,
+        upload_registry=upload_registry,
+        complete_registry=complete_registry,
+        external_only=external_only,
+    )
 
     # 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
     lab_registry.resolve_all_types()

unilabos/registry/resources/common/resource_container.yaml

@@ -17,7 +17,7 @@ hplc_plate:
     - 0
     - 0
     - 3.1416
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
   version: 1.0.0
 plate_96:
@@ -39,7 +39,7 @@ plate_96:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
   version: 1.0.0
 plate_96_high:
@@ -61,7 +61,7 @@ plate_96_high:
     - 1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
   version: 1.0.0
 tiprack_96_high:
@@ -76,7 +76,7 @@ tiprack_96_high:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -92,7 +92,7 @@ tiprack_96_high:
     - 1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
   version: 1.0.0
 tiprack_box:
@@ -107,7 +107,7 @@ tiprack_box:
   init_param_schema: {}
   model:
     children_mesh: tip/meshes/tip.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
     children_mesh_tf:
     - 0.0045
     - 0.0045
@@ -123,6 +123,6 @@ tiprack_box:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -11,7 +11,7 @@ bottle_container:
   init_param_schema: {}
   model:
     children_mesh: bottle/meshes/bottle.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
     children_mesh_tf:
     - 0.04
     - 0.04
@@ -27,7 +27,7 @@ bottle_container:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
   version: 1.0.0
 tube_container:
@@ -43,7 +43,7 @@ tube_container:
   init_param_schema: {}
   model:
     children_mesh: tube/meshes/tube.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
     children_mesh_tf:
     - 0.017
     - 0.017
@@ -59,6 +59,6 @@ tube_container:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -10,6 +10,6 @@ TransformXYZDeck:
   init_param_schema: {}
   model:
     mesh: liquid_transform_xyz
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -10,7 +10,7 @@ OTDeck:
   init_param_schema: {}
   model:
     mesh: opentrons_liquid_handler
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
   version: 1.0.0
 hplc_station:
@@ -25,6 +25,6 @@ hplc_station:
   init_param_schema: {}
   model:
     mesh: hplc_station
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:

unilabos/registry/utils.py

@@ -36,16 +36,40 @@ class ROSMsgNotFound(Exception):
 # ---------------------------------------------------------------------------
 
 _SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
+_PARAM_HEADER_RE = re.compile(
+    r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
+)
+
+
+def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
+    """Parse ``name[display_name]`` or Google-style ``name (type)``."""
+    match = _PARAM_HEADER_RE.match(param_part.strip())
+    if not match:
+        return param_part.strip().split("(")[0].strip(), None
+
+    display_name = match.group("display_name")
+    if display_name is not None:
+        display_name = display_name.strip() or None
+    return match.group("name").strip(), display_name
 
 
 def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     """
-    解析 Google-style docstring，提取描述和参数说明。
+    解析 docstring，提取描述和参数说明。
+
+    支持:
+      - Google-style ``Args:`` / ``Parameters:`` 小节
+      - 直接参数行 ``field: desc``
+      - 带显示名参数行 ``field[Display Name]: desc``
 
     Returns:
-        {"description": "短描述", "params": {"param1": "参数1描述", ...}}
+        {
+            "description": "短描述",
+            "params": {"param1": "参数1描述", ...},
+            "param_display_names": {"param1": "显示名", ...},
+        }
     """
-    result: Dict[str, Any] = {"description": "", "params": {}}
+    result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
     if not docstring:
         return result
 
@@ -53,33 +77,53 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
     if not lines:
         return result
 
-    result["description"] = lines[0].strip()
-
     in_args = False
+    current_section: Optional[str] = None
     current_param: Optional[str] = None
+    current_display_name: Optional[str] = None
     current_desc_parts: list = []
 
-    for line in lines[1:]:
+    def flush_current_param() -> None:
+        nonlocal current_param, current_display_name, current_desc_parts
+        if current_param is None:
+            return
+        result["params"][current_param] = "\n".join(current_desc_parts).strip()
+        if current_display_name:
+            result["param_display_names"][current_param] = current_display_name
+        current_param = None
+        current_display_name = None
+        current_desc_parts = []
+
+    first_line = lines[0].strip()
+    start_index = 0
+    if not _SECTION_RE.match(first_line) and ":" not in first_line:
+        result["description"] = first_line
+        start_index = 1
+
+    for line in lines[start_index:]:
         stripped = line.strip()
+        if not stripped:
+            if current_param is not None:
+                current_desc_parts.append("")
+            continue
+
         section_match = _SECTION_RE.match(stripped)
         if section_match:
-            if current_param is not None:
+            flush_current_param()
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
+            current_section = section_match.group(1).lower()
-                current_param = None
+            in_args = current_section in ("args", "arguments", "parameters", "params")
-                current_desc_parts = []
-            section_name = section_match.group(1).lower()
-            in_args = section_name in ("args", "arguments", "parameters", "params")
             continue
 
-        if not in_args:
+        parse_as_param = in_args or current_section is None
+        if not parse_as_param:
             continue
 
-        if ":" in stripped and not stripped.startswith(" "):
+        if ":" in stripped:
-            if current_param is not None:
+            flush_current_param()
-                result["params"][current_param] = "\n".join(current_desc_parts).strip()
             param_part, _, desc_part = stripped.partition(":")
-            param_name = param_part.strip().split("(")[0].strip()
+            param_name, display_name = _parse_docstring_param_header(param_part)
             current_param = param_name
+            current_display_name = display_name
             current_desc_parts = [desc_part.strip()]
         elif current_param is not None:
             aline = line
@@ -89,8 +133,7 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
                 aline = aline[1:]
             current_desc_parts.append(aline.strip())
 
-    if current_param is not None:
+    flush_current_param()
-        result["params"][current_param] = "\n".join(current_desc_parts).strip()
 
     return result
 

unilabos/resources/graphio.py

@@ -997,7 +997,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                     logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
 
                     # 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
-                    # tracker.liquids 格式: [(物料名称, 数量), ...]
+                    # tracker.liquids 格式: [(物料名称, 数量, 单位), ...]
                     material_name = bottle_type_info[0]  # 默认使用类型名称（如"样品瓶"）
                     if hasattr(bottle, "tracker") and bottle.tracker.liquids:
                         # 如果有液体，使用液体的名称
@@ -1015,7 +1015,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                         "typeId": bottle_type_info[1],
                         "code": bottle.code if hasattr(bottle, "code") else "",
                         "name": material_name,  # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
-                        "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                        "quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                         "x": bioyond_x,
                         "y": bioyond_y,
                         "z": 1,
@@ -1075,7 +1075,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                 "barCode": "",
                 "name": material_name,  # 使用物料名称而不是资源名称
                 "unit": default_unit,  # 使用配置的单位或默认单位
-                "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                "quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                 "Parameters": parameters_json  # API 实际要求的字段（必需）
             }
 

unilabos/ros/nodes/base_device_node.py

@@ -4,6 +4,8 @@ import json
 import threading
 import time
 import traceback
+
+from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
 from typing import (
     get_type_hints,
     TypeVar,
@@ -78,6 +80,67 @@ if TYPE_CHECKING:
 T = TypeVar("T")
 
 
+class RclpyAsyncMutex:
+    """rclpy executor 兼容的异步互斥锁
+
+    通过 executor.create_task 唤醒等待者，避免 timer 的 InvalidHandle 问题。
+    """
+
+    def __init__(self, name: str = ""):
+        self._lock = threading.Lock()
+        self._acquired = False
+        self._queue: List[Future] = []
+        self._name = name
+        self._holder: Optional[str] = None
+
+    async def acquire(self, node: "BaseROS2DeviceNode", tag: str = ""):
+        """获取锁。如果已被占用，则异步等待直到锁释放。"""
+        # t0 = time.time()
+        with self._lock:
+            # qlen = len(self._queue)
+            if not self._acquired:
+                self._acquired = True
+                self._holder = tag
+                # node.lab_logger().debug(
+                #     f"[Mutex:{self._name}] 获取锁 tag={tag} (无等待, queue=0)"
+                # )
+                return
+            waiter = Future()
+            self._queue.append(waiter)
+            # node.lab_logger().info(
+            #     f"[Mutex:{self._name}] 等待锁 tag={tag} "
+            #     f"(holder={self._holder}, queue={qlen + 1})"
+            # )
+        await waiter
+        # wait_ms = (time.time() - t0) * 1000
+        self._holder = tag
+        # node.lab_logger().info(
+        #     f"[Mutex:{self._name}] 获取锁 tag={tag} (等了 {wait_ms:.0f}ms)"
+        # )
+
+    def release(self, node: "BaseROS2DeviceNode"):
+        """释放锁，通过 executor task 唤醒下一个等待者。"""
+        with self._lock:
+            # old_holder = self._holder
+            if self._queue:
+                next_waiter = self._queue.pop(0)
+                # node.lab_logger().debug(
+                #     f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 唤醒下一个 (剩余 queue={len(self._queue)})"
+                # )
+
+                async def _wake():
+                    if not next_waiter.done():
+                        next_waiter.set_result(None)
+
+                rclpy.get_global_executor().create_task(_wake())
+            else:
+                self._acquired = False
+                self._holder = None
+                # node.lab_logger().debug(
+                #     f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 空闲"
+                # )
+
+
 # 在线设备注册表
 registered_devices: Dict[str, "DeviceInfoType"] = {}
 
@@ -355,6 +418,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
         )
 
+        self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}")
+
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
             "resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
@@ -378,15 +443,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             return res
 
         async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
+            _cmd = _fast_loads(req.command)
+            _res_name = _cmd.get("resource", [{}])
+            _res_name = (_res_name[0].get("id", "?") if isinstance(_res_name, list) and _res_name
+                         else _res_name.get("id", "?") if isinstance(_res_name, dict) else "?")
+            _ar_tag = f"{_res_name}"
+            # _t_enter = time.time()
+            # self.lab_logger().info(f"[AR:{_ar_tag}] 进入 append_resource")
+            await self._append_resource_lock.acquire(self, tag=_ar_tag)
+            # _t_locked = time.time()
+            try:
+                return await _append_resource_inner(req, res, _ar_tag)
+                # _t_done = time.time()
+                # self.lab_logger().info(
+                #     f"[AR:{_ar_tag}] 完成 "
+                #     f"等锁={(_t_locked - _t_enter) * 1000:.0f}ms "
+                #     f"执行={(_t_done - _t_locked) * 1000:.0f}ms "
+                #     f"总计={(_t_done - _t_enter) * 1000:.0f}ms"
+                # )
+            except Exception as _ex:
+                self.lab_logger().error(f"[AR:{_ar_tag}] 异常: {_ex}")
+                raise
+            finally:
+                self._append_resource_lock.release(self)
+
+        async def _append_resource_inner(req: SerialCommand_Request, res: SerialCommand_Response, _ar_tag: str = ""):
             from pylabrobot.resources.deck import Deck
             from pylabrobot.resources import Coordinate
             from pylabrobot.resources import Plate
 
-            # 物料传输到对应的node节点
+            # _t0 = time.time()
             client = self._resource_clients["c2s_update_resource_tree"]
             request = SerialCommand.Request()
             request2 = SerialCommand.Request()
-            command_json = json.loads(req.command)
+            command_json = _fast_loads(req.command)
             namespace = command_json["namespace"]
             bind_parent_id = command_json["bind_parent_id"]
             edge_device_id = command_json["edge_device_id"]
@@ -439,7 +529,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
                         )
             # noinspection PyUnresolvedReferences
-            request.command = json.dumps(
+            # _t1 = time.time()
+            # self.lab_logger().debug(
+            #     f"[AR:{_ar_tag}] 准备完成 PLR转换+序列化 {((_t1 - _t0) * 1000):.0f}ms, 发送首次上传..."
+            # )
+            request.command = _fast_dumps_str(
                 {
                     "action": "add",
                     "data": {
@@ -450,7 +544,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 }
             )
             tree_response: SerialCommand.Response = await client.call_async(request)
-            uuid_maps = json.loads(tree_response.response)
+            # _t2 = time.time()
+            # self.lab_logger().debug(
+            #     f"[AR:{_ar_tag}] 首次上传完成 {((_t2 - _t1) * 1000):.0f}ms"
+            # )
+            uuid_maps = _fast_loads(tree_response.response)
             plr_instances = rts.to_plr_resources()
             for plr_instance in plr_instances:
                 self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
@@ -508,7 +606,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
                             input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
                         ):
-                            input_well.set_liquids([(liquid_type, liquid_volume, "uL")])
+                            input_well.set_liquids([(liquid_type, liquid_volume, "ul")])
                         final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
                             input_wells
                         ).dump()
@@ -527,12 +625,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             Coordinate(location["x"], location["y"], location["z"]),
                             **other_calling_param,
                         )
-                    # 调整了液体以及Deck之后要重新Assign
                     # noinspection PyUnresolvedReferences
-                    rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
+                    rts_with_parent = ResourceTreeSet.from_plr_resources([plr_instance])
                     if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
                         rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
-                    request.command = json.dumps(
+                    request.command = _fast_dumps_str(
                         {
                             "action": "add",
                             "data": {
@@ -542,11 +639,22 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             },
                         }
                     )
+                    # _t4 = time.time()
+                    # self.lab_logger().debug(
+                    #     f"[AR:{_ar_tag}] 二次上传序列化 {_n_parent}节点 {((_t4 - _t3) * 1000):.0f}ms, 发送中..."
+                    # )
                     tree_response: SerialCommand.Response = await client.call_async(request)
-                    uuid_maps = json.loads(tree_response.response)
+                    _raw_resp = tree_response.response if tree_response else ""
+                    if _raw_resp:
+                        uuid_maps = json.loads(_raw_resp)
+                    else:
+                        uuid_maps = {}
+                        self._lab_logger.warning("Resource tree add 返回空响应，跳过 UUID 映射")
                     self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
-                    self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
+                    # self._lab_logger.info(
-                    # 这里created_resources不包含parent_resource
+                    #     f"[AR:{_ar_tag}] 二次上传完成 HTTP={(_t5 - _t4) * 1000:.0f}ms "
+                    #     f"UUID映射={len(uuid_maps)}节点 总执行={(_t5 - _t0) * 1000:.0f}ms"
+                    # )
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
                     self,
@@ -683,7 +791,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
         # 发送请求并等待响应
         response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
+        if not response.response:
+            raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
         raw_data = json.loads(response.response)
+        if not raw_data:
+            raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
 
         # 转换为 PLR 资源
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1132,7 +1244,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if uid is None:
                 raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
             target_uids.append(uid)
-        srv_address = f"/srv{target_device_id}/s2c_resource_tree"
+        _ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
+        srv_address = f"/srv{_ns}/s2c_resource_tree"
         sclient = self.create_client(SerialCommand, srv_address)
         # 等待服务可用（设置超时）
         if not sclient.wait_for_service(timeout_sec=5.0):
@@ -1182,7 +1295,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     return False
                 time.sleep(0.05)
             self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
-        return None
+        return "转运完成"
 
     def register_device(self):
         """向注册表中注册设备信息"""
@@ -1567,37 +1680,75 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
             result_msg_types = action_type.Result.get_fields_and_field_types()
 
-            while future is not None and not future.done():
+            # 低频 feedback timer（10s），不阻塞完成检测
-                if goal_handle.is_cancel_requested:
+            _feedback_timer = None
-                    self.lab_logger().info(f"取消动作: {action_name}")
-                    future.cancel()  # 尝试取消线程池中的任务
-                    goal_handle.canceled()
-                    return action_type.Result()
 
-                self._time_spent = time.time() - time_start
+            def _publish_feedback():
-                self._time_remaining = time_overall - self._time_spent
+                if future is not None and not future.done():
+                    self._time_spent = time.time() - time_start
+                    self._time_remaining = time_overall - self._time_spent
+                    feedback_values = {}
+                    for msg_name, attr_name in action_value_mapping["feedback"].items():
+                        if hasattr(self.driver_instance, f"get_{attr_name}"):
+                            method = getattr(self.driver_instance, f"get_{attr_name}")
+                            if not asyncio.iscoroutinefunction(method):
+                                feedback_values[msg_name] = method()
+                        elif hasattr(self.driver_instance, attr_name):
+                            feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
+                    if self._print_publish:
+                        self.lab_logger().info(f"反馈: {feedback_values}")
+                    feedback_msg = convert_to_ros_msg_with_mapping(
+                        ros_msg_type=action_type.Feedback(),
+                        obj=feedback_values,
+                        value_mapping=action_value_mapping["feedback"],
+                    )
+                    goal_handle.publish_feedback(feedback_msg)
 
-                # 发布反馈
+            if action_value_mapping.get("feedback"):
-                feedback_values = {}
+                _fb_interval = action_value_mapping.get("feedback_interval", 0.5)
-                for msg_name, attr_name in action_value_mapping["feedback"].items():
+                _feedback_timer = self.create_timer(
-                    if hasattr(self.driver_instance, f"get_{attr_name}"):
+                    _fb_interval, _publish_feedback, callback_group=self.callback_group
-                        method = getattr(self.driver_instance, f"get_{attr_name}")
-                        if not asyncio.iscoroutinefunction(method):
-                            feedback_values[msg_name] = method()
-                    elif hasattr(self.driver_instance, attr_name):
-                        feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
-
-                if self._print_publish:
-                    self.lab_logger().info(f"反馈: {feedback_values}")
-
-                feedback_msg = convert_to_ros_msg_with_mapping(
-                    ros_msg_type=action_type.Feedback(),
-                    obj=feedback_values,
-                    value_mapping=action_value_mapping["feedback"],
                 )
 
-                goal_handle.publish_feedback(feedback_msg)
+            # 等待 action 完成
-                time.sleep(0.5)
+            if future is not None:
+                if isinstance(future, Task):
+                    # rclpy Task：直接 await，完成瞬间唤醒
+                    try:
+                        _raw_result = await future
+                    except Exception as e:
+                        _raw_result = e
+                else:
+                    # concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
+                    _poll_future = Future()
+
+                    def _on_sync_done(fut):
+                        if not _poll_future.done():
+                            _poll_future.set_result(None)
+
+                    future.add_done_callback(_on_sync_done)
+                    await _poll_future
+                    try:
+                        _raw_result = future.result()
+                    except Exception as e:
+                        _raw_result = e
+
+                # 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
+                if isinstance(_raw_result, BaseException):
+                    if not execution_error:
+                        execution_error = traceback.format_exception(
+                            type(_raw_result), _raw_result, _raw_result.__traceback__
+                        )
+                        execution_error = "".join(execution_error)
+                    execution_success = False
+                    action_return_value = _raw_result
+                elif not execution_error:
+                    execution_success = True
+                    action_return_value = _raw_result
+
+            # 清理 feedback timer
+            if _feedback_timer is not None:
+                _feedback_timer.cancel()
 
             if future is not None and future.cancelled():
                 self.lab_logger().info(f"动作 {action_name} 已取消")
@@ -1606,8 +1757,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # self.lab_logger().info(f"动作执行完成: {action_name}")
             del future
 
+            # 执行失败时跳过物料状态更新
+            if execution_error:
+                execution_success = False
+
             # 向Host更新物料当前状态
-            if action_name not in ["create_resource_detailed", "create_resource"]:
+            if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue
@@ -1663,7 +1818,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             for attr_name in result_msg_types.keys():
                 if attr_name in ["success", "reached_goal"]:
-                    setattr(result_msg, attr_name, True)
+                    setattr(result_msg, attr_name, execution_success)
                 elif attr_name == "return_info":
                     setattr(
                         result_msg,
@@ -1729,10 +1884,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         try:
                             function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
                         except Exception as e:
-                            self.lab_logger().error(
+                            # UUID 在资源树中不存在，尝试从传入的完整 dict 直接构建 PLR 资源
-                                f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                            self.lab_logger().warning(
+                                f"UUID查询 {arg_name} 失败，尝试从传入数据直接构建: {e}"
                             )
-                            raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
+                            try:
+                                fallback_tree = ResourceTreeSet.from_raw_dict_list([resource_data])
+                                if len(fallback_tree.trees) == 0:
+                                    raise
+                                plr_list = fallback_tree.to_plr_resources()
+                                if not plr_list:
+                                    raise
+                                plr_res = plr_list[0]
+                                figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
+                                function_args[arg_name] = figured[0] if figured else plr_res
+                            except Exception:
+                                self.lab_logger().error(
+                                    f"转换ResourceSlot参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
+                                )
+                                raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
 
                 # 处理 ResourceSlot 列表
                 elif isinstance(arg_type, tuple) and len(arg_type) == 2:
@@ -1744,10 +1914,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
                                 function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
                             except Exception as e:
-                                self.lab_logger().error(
+                                self.lab_logger().warning(
-                                    f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                                    f"UUID查询列表 {arg_name} 失败，尝试从传入数据直接构建: {e}"
                                 )
-                                raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
+                                try:
+                                    dict_items = [r for r in resource_list if isinstance(r, dict) and "id" in r]
+                                    fallback_tree = ResourceTreeSet.from_raw_dict_list(dict_items)
+                                    if len(fallback_tree.trees) == 0:
+                                        raise
+                                    plr_list = fallback_tree.to_plr_resources()
+                                    resolved = []
+                                    for plr_res in plr_list:
+                                        figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
+                                        resolved.append(figured[0] if figured else plr_res)
+                                    function_args[arg_name] = resolved
+                                except Exception:
+                                    self.lab_logger().error(
+                                        f"转换ResourceSlot列表参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
+                                    )
+                                    raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
 
             # todo: 默认反报送
             return function(**function_args)
@@ -1769,7 +1954,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             raise ValueError("至少需要提供一个 UUID")
 
         uuids_list = list(uuids)
-        future = self._resource_clients["c2s_update_resource_tree"].call_async(
+        future: Future = self._resource_clients["c2s_update_resource_tree"].call_async(
             SerialCommand.Request(
                 command=json.dumps(
                     {
@@ -1795,6 +1980,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             raise Exception(f"资源查询返回空结果: {uuids_list}")
 
         raw_data = json.loads(response.response)
+        if not raw_data:
+            raise Exception(f"资源原始查询返回空结果: {raw_data}")
 
         # 转换为 PLR 资源
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1816,10 +2003,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         mapped_plr_resources = []
         for uuid in uuids_list:
+            found = None
             for plr_resource in figured_resources:
                 r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
-                mapped_plr_resources.append(r)
+                if r is not None:
-                break
+                    found = r
+                    break
+            if found is None:
+                raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
+            mapped_plr_resources.append(found)
 
         return mapped_plr_resources
 
@@ -1912,16 +2104,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
             )
 
-    async def _convert_resource_async(self, resource_data: Dict[str, Any]):
+    async def _convert_resource_async(self, resource_data: "ResourceDictType"):
-        """异步转换资源数据为实例"""
+        """异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
-        # 使用封装的get_resource_with_dir方法获取PLR资源
+        unilabos_uuid = resource_data.get("uuid")
-        plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
+
+        if unilabos_uuid:
+            resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
+            plr_resources = resource_tree.to_plr_resources()
+            if plr_resources:
+                plr_resource = plr_resources[0]
+            else:
+                raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
+        else:
+            res_id = resource_data.get("id") or resource_data.get("name", "")
+            if not res_id:
+                raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
+            plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
 
         # 通过资源跟踪器获取本地实例
         res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
         if len(res) == 0:
-            # todo: 后续通过decoration来区分，减少warning
+            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data.get('id', '?')}，返回新建实例")
-            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
             return plr_resource
         elif len(res) == 1:
             return res[0]

unilabos/ros/nodes/presets/host_node.py

@@ -4,6 +4,8 @@ import threading
 import time
 import traceback
 import uuid
+
+from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
 
@@ -570,6 +572,102 @@ class HostNode(BaseROS2DeviceNode):
             responses.append(response.response)
         return responses
 
+    def _lookup_deck_for_slot(self, device_id: str, deck_id: str):
+        """根据 device_id / deck_id 查找 deck PLR 实例，找不到返回 None。
+
+        优先级：
+        1. ``devices_instances[device_id]`` 上对应 driver 的 ``deck`` 属性（PLR LiquidHandler 的标准属性）
+        2. driver / wrapper / _ros_node 各级 resource_tracker.figure_resource({"id": deck_id})
+        3. host 自己的 ``_resource_tracker``
+        """
+        log = self.lab_logger()
+
+        def _try_tracker(tracker, src_desc: str):
+            if tracker is None:
+                log.debug(f"[Host Node] _lookup_deck: {src_desc} tracker 为 None，跳过")
+                return None
+            try:
+                matches = tracker.figure_resource({"id": deck_id}, try_mode=True)
+            except Exception as e:
+                log.warning(f"[Host Node] _lookup_deck: {src_desc}.figure_resource({deck_id}) 失败: {e}")
+                return None
+            if isinstance(matches, list) and matches:
+                obj = next((m for m in matches if not isinstance(m, dict)), matches[0])
+                if obj is not None and not isinstance(obj, dict):
+                    log.debug(f"[Host Node] _lookup_deck: 命中 via {src_desc} -> {type(obj).__name__}")
+                    return obj
+            log.debug(f"[Host Node] _lookup_deck: {src_desc} figure_resource 未命中 (matches={matches!r})")
+            return None
+
+        # 1) 先按 device_id 拿 driver 上的 deck
+        candidate_ids = []
+        if device_id:
+            candidate_ids.append(device_id)
+            stripped = device_id.lstrip("/")
+            if stripped and stripped != device_id:
+                candidate_ids.append(stripped)
+            tail = device_id.split("/")[-1]
+            if tail and tail not in candidate_ids:
+                candidate_ids.append(tail)
+
+        d = None
+        for did in candidate_ids:
+            d = self.devices_instances.get(did)
+            if d is not None:
+                break
+        if d is None:
+            log.warning(
+                f"[Host Node] _lookup_deck: devices_instances 找不到 device_id={device_id!r} "
+                f"(尝试过 {candidate_ids}); 当前已知: {list(self.devices_instances.keys())}"
+            )
+        else:
+            # 真正的 driver 在 wrapper 的 _driver_instance / _ros_node.driver_instance 上
+            driver_candidates = []
+            for attr_path in ("_driver_instance", "_ros_node.driver_instance", "driver_instance"):
+                obj = d
+                for part in attr_path.split("."):
+                    obj = getattr(obj, part, None)
+                    if obj is None:
+                        break
+                if obj is not None and obj not in driver_candidates:
+                    driver_candidates.append(obj)
+
+            for drv in driver_candidates:
+                deck = getattr(drv, "deck", None)
+                if deck is not None:
+                    deck_name = getattr(deck, "name", None)
+                    if deck_name == deck_id:
+                        log.debug(
+                            f"[Host Node] _lookup_deck: 命中 via {type(drv).__name__}.deck (name={deck_name})"
+                        )
+                        return deck
+                    log.debug(
+                        f"[Host Node] _lookup_deck: {type(drv).__name__}.deck.name={deck_name!r} 与 {deck_id!r} 不一致"
+                    )
+
+            # 退化：从 wrapper / _ros_node 的 resource_tracker 找
+            tracker_paths = (
+                "resource_tracker",
+                "_ros_node.resource_tracker",
+            )
+            for attr_path in tracker_paths:
+                tracker = d
+                for part in attr_path.split("."):
+                    tracker = getattr(tracker, part, None)
+                    if tracker is None:
+                        break
+                obj = _try_tracker(tracker, f"device({device_id}).{attr_path}")
+                if obj is not None:
+                    return obj
+
+        # 2) host 自己的 tracker（一般为空，因为 init 时 device 树被 continue 了）
+        host_tracker = getattr(self, "resource_tracker", None) or getattr(self, "_resource_tracker", None)
+        obj = _try_tracker(host_tracker, "host._resource_tracker")
+        if obj is not None:
+            return obj
+
+        return None
+
     async def create_resource(
         self,
         device_id: DeviceSlot,
@@ -583,6 +681,30 @@ class HostNode(BaseROS2DeviceNode):
         slot_on_deck: str = "",
     ) -> CreateResourceReturn:
         # 暂不支持多对同名父子同时存在
+        # 如果 slot_on_deck 不是空，并且 bind_locations 全为 0，则尝试通过 deck 的 slot 信息推算真实坐标
+        if slot_on_deck and (
+            (not hasattr(bind_locations, "x") or bind_locations.x == 0)
+            and (not hasattr(bind_locations, "y") or bind_locations.y == 0)
+            and (not hasattr(bind_locations, "z") or bind_locations.z == 0)
+        ):
+            # 尝试通过 parent (deck) 查找 slot 坐标，parent 应是deck的id
+            deck_id = parent.split("/")[-1]
+            deck_obj = self._lookup_deck_for_slot(device_id, deck_id)
+            if deck_obj is not None and hasattr(deck_obj, "get_slot_location"):
+                try:
+                    slot_location = deck_obj.get_slot_location(slot_on_deck)
+                    bind_locations.x = slot_location.x
+                    bind_locations.y = slot_location.y
+                    bind_locations.z = slot_location.z
+                except Exception as e:
+                    self.lab_logger().warning(
+                        f"[Host Node] 无法通过deck({deck_id})获取slot({slot_on_deck})位置: {e}"
+                    )
+            else:
+                self.lab_logger().warning(
+                    f"[Host Node] 找不到deck对象({deck_id})或其不支持get_slot_location, 无法修正bind_locations"
+                )
+
         res_creation_input = {
             "id": res_id.split("/")[-1],
             "name": res_id.split("/")[-1],
@@ -608,6 +730,45 @@ class HostNode(BaseROS2DeviceNode):
                 }
             )
         init_new_res = initialize_resource(res_creation_input)  # flatten的格式
+
+        # 若 init_new_res 中节点的 pose.position 与 pose.position3d 同时全为 0，
+        # 用上面通过 deck slot 反查得到的 bind_locations 覆盖（位置仍可能是默认 0）
+        bind_xyz = {
+            "x": float(getattr(bind_locations, "x", 0) or 0),
+            "y": float(getattr(bind_locations, "y", 0) or 0),
+            "z": float(getattr(bind_locations, "z", 0) or 0),
+        }
+        if any(v != 0.0 for v in bind_xyz.values()):
+            def _is_zero_xyz(p):
+                if not isinstance(p, dict):
+                    return False
+                return (
+                    float(p.get("x", 0) or 0) == 0.0
+                    and float(p.get("y", 0) or 0) == 0.0
+                    and float(p.get("z", 0) or 0) == 0.0
+                )
+
+            def _patch_node(node):
+                if not isinstance(node, dict):
+                    return
+                pose = node.get("pose")
+                if not isinstance(pose, dict):
+                    return
+                pos = pose.get("position")
+                pos3d = pose.get("position3d")
+                if _is_zero_xyz(pos) and _is_zero_xyz(pos3d):
+                    pose["position"] = dict(bind_xyz)
+                    pose["position3d"] = dict(bind_xyz)
+
+            def _walk(obj):
+                if isinstance(obj, dict):
+                    _patch_node(obj)
+                elif isinstance(obj, list):
+                    for item in obj:
+                        _walk(item)
+
+            _walk(init_new_res)
+
         if len(init_new_res) > 1:  # 一个物料，多个子节点
             init_new_res = [init_new_res]
         resources: List[Resource] | List[List[Resource]] = init_new_res  # initialize_resource已经返回list[dict]
@@ -625,22 +786,17 @@ class HostNode(BaseROS2DeviceNode):
                 }
             )
         ]
-
         response: List[str] = await self.create_resource_detailed(
             resources, device_ids, bind_parent_id, bind_location, other_calling_param
         )
 
-        try:
+        assert len(response) == 1, "Create Resource应当只返回一个结果"
-            assert len(response) == 1, "Create Resource应当只返回一个结果"
+        for i in response:
-            for i in response:
+            res = json.loads(i)
-                res = json.loads(i)
+            if "suc" in res and not res["suc"]:
-                if "suc" in res:
+                raise ValueError(res.get("error", "未知错误"))
-                    raise ValueError(res.get("error"))
+            return res
-                return res
+        raise ValueError(f"创建资源时失败！响应为空")
-        except Exception as ex:
-            pass
-        _n = "\n"
-        raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
 
     def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
         """
@@ -1196,7 +1352,7 @@ class HostNode(BaseROS2DeviceNode):
                 else:
                     physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
 
-        response.response = json.dumps(uuid_mapping) if success else "FAILED"
+        response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
         if success:
@@ -1212,6 +1368,7 @@ class HostNode(BaseROS2DeviceNode):
 
         resource_response = http_client.resource_tree_get(uuid_list, with_children)
         response.response = json.dumps(resource_response)
+        self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
 
     async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
         """
@@ -1270,9 +1427,26 @@ class HostNode(BaseROS2DeviceNode):
         """
         try:
             # 解析请求数据
-            data = json.loads(request.command)
+            data = _fast_loads(request.command)
             action = data["action"]
-            self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
+            inner = data.get("data", {})
+            if action == "add":
+                mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
+                tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
+                node_count = len(tree_data) if isinstance(tree_data, list) else "?"
+                source = f"mount={mount_uuid}.. nodes≈{node_count}"
+            elif action in ("get", "remove"):
+                uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
+                source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
+            elif action == "update":
+                tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
+                node_count = len(tree_data) if isinstance(tree_data, list) else "?"
+                source = f"nodes≈{node_count}"
+            else:
+                source = ""
+            self.lab_logger().info(
+                f"[Host Node-Resource] Resource tree {action} request received ({source})"
+            )
             data = data["data"]
             if action == "add":
                 await self._resource_tree_action_add_callback(data, response)

unilabos/test/experiments/prcxi_9320_slim.json

@@ -28,9 +28,9 @@
                 "matrix_id": "",
                 "simulator": false,
                 "channel_num": 2,
-                "step_mode": true,
+                "step_mode": false,
                 "calibration_points": {
-                    "line_1": [[452.07,21.19], [313.88,21.19], [176.87,21.19], [39.08,21.19]],
+                    "line_1": [[452.07,21.19], [313.88,21.19], [177.17,21.19], [39.08,21.19]],
                     "line_2": [[451.37,116.68], [313.28,116.88], [176.58,116.69], [38.58,117.18]],
                     "line_3": [[450.87,212.18], [312.98,212.38], [176.08,212.68], [38.08,213.18]],
                     "line_4": [[450.08,307.68], [312.18,307.89], [175.18,308.18], [37.58,309.18]]

unilabos/test/experiments/virtual_bench.json

@@ -0,0 +1,469 @@
+{
+    "nodes": [
+        {
+            "id": "workbench_1",
+            "name": "虚拟工作台",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "virtual_workbench",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "arm_operation_time": 3.0,
+                "heating_time": 10.0,
+                "num_heating_stations": 3
+            },
+            "data": {
+                "status": "Ready",
+                "arm_state": "idle",
+                "message": "工作台就绪"
+            }
+        },
+        {
+            "id": "PRCXI",
+            "name": "PRCXI",
+            "type": "device",
+            "class": "liquid_handler.prcxi",
+            "parent": "",
+            "pose": {
+                "size": {
+                    "width": 562,
+                    "height": 394,
+                    "depth": 0
+                }
+            },
+            "config": {
+                "axis": "Left",
+                "deck": {
+                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+                    "_resource_child_name": "PRCXI_Deck"
+                },
+                "host": "10.20.30.184",
+                "port": 9999,
+                "debug": true,
+                "setup": true,
+                "is_9320": true,
+                "timeout": 10,
+                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+                "simulator": true,
+                "channel_num": 2
+            },
+            "data": {
+                "reset_ok": true
+            },
+            "schema": {},
+            "description": "",
+            "model": null,
+            "position": {
+                "x": 0,
+                "y": 240,
+                "z": 0
+            }
+        },
+        {
+            "id": "PRCXI_Deck",
+            "name": "PRCXI_Deck",
+            "children": [],
+            "parent": "PRCXI",
+            "type": "deck",
+            "class": "",
+            "position": {
+                "x": 10,
+                "y": 10,
+                "z": 0
+            },
+            "config": {
+                "type": "PRCXI9300Deck",
+                "size_x": 542,
+                "size_y": 374,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "deck",
+                "barcode": null,
+                "preferred_pickup_location": null,
+                "sites": [
+                    {
+                        "label": "T1",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "container",
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T2",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T3",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T4",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T5",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T6",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T7",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T8",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T9",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T10",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T11",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T12",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T13",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T14",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T15",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T16",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    }
+                ]
+            },
+            "data": {}
+        }
+    ],
+    "links": []
+}

unilabos/utils/environment_check.py

@@ -33,10 +33,76 @@ _USE_UV: Optional[bool] = None
 def _has_uv() -> bool:
     global _USE_UV
     if _USE_UV is None:
-        _USE_UV = shutil.which("uv") is not None
+        uv_path = shutil.which("uv")
+        if not uv_path:
+            _USE_UV = False
+        else:
+            try:
+                result = subprocess.run([uv_path, "--version"], capture_output=True, text=True, timeout=10)
+                _USE_UV = result.returncode == 0
+            except Exception:
+                _USE_UV = False
     return _USE_UV
 
 
+def _install_command(installer: str, package: str, upgrade: bool, is_chinese: bool) -> List[str]:
+    if installer == "uv":
+        cmd = ["uv", "pip", "install"]
+        if upgrade:
+            cmd.append("--upgrade")
+        cmd.append(package)
+        if is_chinese:
+            cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+        return cmd
+
+    cmd = [sys.executable, "-m", "pip", "install", "--disable-pip-version-check"]
+    if upgrade:
+        cmd.append("--upgrade")
+    cmd.append(package)
+    if is_chinese:
+        cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
+    return cmd
+
+
+def _installer_candidates() -> List[str]:
+    installers: List[str] = []
+    if _has_uv():
+        installers.append("uv")
+    installers.append("pip")
+    return installers
+
+
+def _git_url_from_requirement(requirement: str) -> Optional[str]:
+    if not requirement.startswith("git+"):
+        return None
+    return requirement[4:].split("#", 1)[0]
+
+
+def _repo_dir_name(git_url: str) -> str:
+    repo_name = git_url.rstrip("/").rsplit("/", 1)[-1]
+    return repo_name[:-4] if repo_name.endswith(".git") else repo_name
+
+
+def _print_manual_git_install_hint(requirement: str) -> None:
+    git_url = _git_url_from_requirement(requirement)
+    if not git_url:
+        return
+
+    repo_dir = _repo_dir_name(git_url)
+    install_cmd = "uv pip install -e ." if _has_uv() else f"{sys.executable} -m pip install -e ."
+    if _is_chinese_locale() and not _has_uv():
+        install_cmd += " -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
+
+    print_status("Git 依赖自动安装失败，通常是网络连接被重置或代码托管站点暂时不可达。", "warning")
+    print_status("可以手动拉取代码后在本地安装:", "warning")
+    print_status(f"  git clone {git_url}", "warning")
+    print_status(f"  cd {repo_dir}", "warning")
+    print_status("  git pull", "warning")
+    print_status(f"  {install_cmd}", "warning")
+    print_status(f"如果目录 {repo_dir} 已存在，直接进入该目录执行 git pull 后再安装。", "warning")
+    print_status("如果 git clone 仍失败，请切换网络/代理，或从浏览器下载源码后进入源码目录执行本地安装命令。", "warning")
+
+
 def _install_packages(
     packages: List[str],
     upgrade: bool = False,
@@ -53,7 +119,7 @@ def _install_packages(
         return True
 
     is_chinese = _is_chinese_locale()
-    use_uv = _has_uv()
+    installers = _installer_candidates()
     failed: List[str] = []
 
     for pkg in packages:
@@ -63,35 +129,30 @@ def _install_packages(
         else:
             print_status(f"正在{action_word} {pkg}...", "info")
 
-        if use_uv:
+        pkg_installed = False
-            cmd = ["uv", "pip", "install"]
+        last_error = "unknown error"
-            if upgrade:
-                cmd.append("--upgrade")
-            cmd.append(pkg)
-            if is_chinese:
-                cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
-        else:
-            cmd = [sys.executable, "-m", "pip", "install"]
-            if upgrade:
-                cmd.append("--upgrade")
-            cmd.append(pkg)
-            if is_chinese:
-                cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
 
-        try:
+        for installer in installers:
-            result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
+            cmd = _install_command(installer, pkg, upgrade, is_chinese)
-            if result.returncode == 0:
+            try:
-                installer = "uv" if use_uv else "pip"
+                result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
-                print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
+                if result.returncode == 0:
-            else:
+                    print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
-                stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
+                    pkg_installed = True
-                print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error")
+                    break
-                failed.append(pkg)
+
-        except subprocess.TimeoutExpired:
+                last_error = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
-            print_status(f"× {pkg} {action_word}超时 (300s)", "error")
+                print_status(f"× {pkg} {action_word}失败 (via {installer}): {last_error}", "warning")
-            failed.append(pkg)
+            except subprocess.TimeoutExpired:
-        except Exception as e:
+                last_error = "timeout after 300s"
-            print_status(f"× {pkg} {action_word}异常: {e}", "error")
+                print_status(f"× {pkg} {action_word}超时 (via {installer}, 300s)", "warning")
+            except Exception as e:
+                last_error = str(e)
+                print_status(f"× {pkg} {action_word}异常 (via {installer}): {e}", "warning")
+
+        if not pkg_installed:
+            print_status(f"× {pkg} {action_word}失败: {last_error}", "error")
+            _print_manual_git_install_hint(pkg)
             failed.append(pkg)
 
     if failed:
@@ -188,7 +249,13 @@ class EnvironmentChecker:
             "crcmod": "crcmod-plus",
         }
 
-        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
+        # 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
+        pylabrobot_url = (
+            "git+https://gitee.com/xuwznln/pylabrobot.git"
+            if _is_chinese_locale()
+            else "git+https://github.com/Xuwznln/pylabrobot.git"
+        )
+        self.special_packages = {"pylabrobot": pylabrobot_url}
 
         self.version_requirements = {
             "msgcenterpy": "0.1.8",

unilabos/utils/import_manager.py

@@ -206,6 +206,7 @@ class ImportManager:
             "ast_analysis_success": False,
             "import_map": {},
             "init_params": [],
+            "init_docstring": None,
             "status_methods": {},
             "action_methods": {},
         }
@@ -251,6 +252,7 @@ class ImportManager:
 
         # 映射到统一字段名（与 registry.py complete_registry 消费端一致）
         result["init_params"] = body.get("init_params", [])
+        result["init_docstring"] = body.get("init_docstring")
         result["status_methods"] = body.get("status_properties", {})
         result["action_methods"] = {
             k: {

unilabos/utils/tools.py

@@ -17,6 +17,14 @@ try:
             default=json_default,
         )
 
+    def fast_loads(data) -> dict:
+        """JSON 反序列化，优先使用 orjson。接受 str / bytes。"""
+        return orjson.loads(data)
+
+    def fast_dumps_str(obj, **kwargs) -> str:
+        """JSON 序列化为 str，优先使用 orjson。用于需要 str 而非 bytes 的场景（如 ROS msg）。"""
+        return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default).decode("utf-8")
+
     def normalize_json(info: dict) -> dict:
         """经 JSON 序列化/反序列化一轮来清理非标准类型。"""
         return orjson.loads(orjson.dumps(info, default=json_default))
@@ -29,6 +37,14 @@ except ImportError:
     def fast_dumps_pretty(obj, **kwargs) -> bytes:  # type: ignore[misc]
         return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
 
+    def fast_loads(data) -> dict:  # type: ignore[misc]
+        if isinstance(data, bytes):
+            data = data.decode("utf-8")
+        return json.loads(data)
+
+    def fast_dumps_str(obj, **kwargs) -> str:  # type: ignore[misc]
+        return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder)
+
     def normalize_json(info: dict) -> dict:  # type: ignore[misc]
         return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
 

unilabos/workflow/common.py

@@ -726,7 +726,7 @@ def refactor_data(
             "template_name": template_name,
             "resource_name": resource_name,
             "description": step.get("description", step.get("purpose", f"{operation} operation")),
-            "lab_node_type": "ILab",
+            "lab_node_type": "Transport" if "transfer" in template_name.lower() else "Device",
             "param": step.get("parameters", step.get("action_args", {})),
             "footer": f"{template_name}-{resource_name}",
         }

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.19</version>
+  <version>0.11.1</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>